Automatically strip invalid characters from Windows filenames

I often paste titles of PDFs into their filenames so I can easily search for them. They often have invalid characters like newlines or :, and Windows pops up a stupid error and then reverts the filename to its original:

I don't care about those characters and would be perfectly happy if it replaced them with - or removed them entirely. Is there some way I can do this? Any system setting for disabling this prompt?

The best I can think of is an AutoHotkey script with its own keyboard shortcut for "paste clipboard but remove invalid characters first", which is what I'm currently using.