If all other things are equal the non-hyphen domain will have preference over a domain with hyphens. Since all things being equal is rarely the case it is difficult to decern by conducting sample searches but I have a partner who owns both versions and the approximation I stated is accurate from what he and I can tell. Hyphen domains are looked at as SEO tactics but don't have a lot of problems unless they are going head-to-head with a non-hyphenated domain or if they clearly represent a "Keywords-Gone-Wild" version as drhyperlaur demonstrated.
Good luck.
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