For that you need to use the GREP tab of the Search-and-Replace dialog. Switch to that, then enter
(?<=d)-(?=d)
in the Find What field, and
~=
in the Replace With field.
GREP is about halfway between a regular text search and a full programming language; certain characters are found 'as usual', where other single or multiple character sequences are actually codes that trigger some specific behavior. For GREP, the special codes for 'any digit' is d and it works just like the regular ^9, but the extra codes around it: (?<=..) and (?=..) form Lookbehind and Lookahead sequences. These do the magic: the text inside is matched (i.e., it should be found) but it is not included in the Replace operation. So whatever digits are found, they are never removed; only the single hyphen inside is actually replaced with whatever you put in the Replace With field.
See FindBetween: A Useful GREP String for a couple more examples, and the overview page GREP for a list of relevant pages.