There's an argument that can be made for both. Names without the dash are easier for people to remember and for website owners to give to their customers verbally, while ones with the dash can increase search engine rankings (although Google, among others, is now able to extract words from domain names without the dashes being necessary).
Personally though, I prefer the former. Don't bother with dashes. Your search engine ranking increase with dashes, if any, would be negligible and your loss of customers as a result of having a dashes-only domain name would more than counteract that.
The other alternative would be to do as I do with my .com and .ca. I mirror the two domain names, use my .ca for online marketing only, and my .com for offline marketing. The .ca works online because I can gain an advantage in engines that regionalize content, and the .com works offline because people remember it (and if they type the .ca instead by mistake, I got that base covered to). It costs me a whopping $20 extra, but it's worth it.
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