**Apache Airflow version**: 1.10.*
**BackPort Packages version**: 2020.10.5rc1

**What happened**:

`BigQueryInsertJobOperator` tries to start a BigQuery job by specifying a job_id which is a combination of `dag_id`, `task_id`, `execution_date` and an additional `uniqueness_suffix`.

https://github.com/apache/airflow/blob/master/airflow/providers/google/cloud/operators/bigquery.py#L2072

However, because BigQuery only accepts alphanumeric (in additon to dashes and underscore) characters then, if a DagID contains a version number whcih includes a `.` character then this will cause the task to fail.

https://cloud.google.com/bigquery/docs/running-jobs#generate-jobid

**How to reproduce it**:
Create a DAG with the name `my-dag-v1.0`.
airflow/providers/google/cloud/hooks/bigquery.py
self,
        sql: str,
        destination_dataset_table: Optional[str] = None,
        write_disposition: str = 'WRITE_EMPTY',
        allow_large_results: bool = False,
        flatten_results: Optional[bool] = None,
        udf_config: Optional[List] = None,
        use_legacy_sql: Optional[bool] = None,
        maximum_billing_tier: Optional[int] = None,
        maximum_bytes_billed: Optional[float] = None,
        create_disposition: str = 'CREATE_IF_NEEDED',
        query_params: Optional[List] = None,
        labels: Optional[Dict] = None,
        schema_update_options: Optional[Iterable] = None,
        priority: str = 'INTERACTIVE',
        time_partitioning: Optional[Dict] = None,
        api_resource_configs: Optional[Dict] = None,
        cluster_fields: Optional[List[str]] = None,
        location: Optional[str] = None,
        encryption_configuration: Optional[Dict] = None,
    ) -> str:
        """
        Executes a BigQuery SQL query. Optionally persists results in a BigQuery
        table. See here:
        https://cloud.google.com/bigquery/docs/reference/v2/jobs
        For more details about these parameters.
        :param sql: The BigQuery SQL to execute.