Fix ID token verification (#87)

diff --git a/google/auth/_helpers.py b/google/auth/_helpers.py
index 5a6c3a8..de86bee 100644
--- a/google/auth/_helpers.py
+++ b/google/auth/_helpers.py
@@ -14,6 +14,7 @@
 
 """Helper functions for commonly used utilities."""
 
+import base64
 import calendar
 import datetime
 
@@ -194,3 +195,19 @@
         return []
 
     return scopes.split(' ')
+
+
+def padded_urlsafe_b64decode(value):
+    """Decodes base64 strings lacking padding characters.
+
+    Google infrastructure tends to omit the base64 padding characters.
+
+    Args:
+        value (Union[str, bytes]): The encoded value.
+
+    Returns:
+        bytes: The decoded value
+    """
+    b64string = to_bytes(value)
+    padded = b64string + b'=' * (-len(b64string) % 4)
+    return base64.urlsafe_b64decode(padded)