If you want to allow any type of pattern as you mentioned as long as the string contains just numbers and dashes, you could use :
^[\d-]+$
or (you can explicitly escape the dash as well using \-):
^[\d-]+$
which would be used in a RegularExpressionValidator as such :
<asp:regularexpressionvalidator id="YourValidator" runat="server" xmlns:asp="#unknown">
Display="Dynamic"
ControlToValidate="Txt_ID"
ValidationExpression="^[\d\-]+$"
ErrorMessage="ID# - 15 Characeter Length.">
</asp:regularexpressionvalidator>
Explanation of Expression
^ # Beginning of expression
[\d-]+ # Allows one or more (+) digits (\d) or dashes (-)
$ # End of expression
Additionally, if you wanted to specify the format such as the one that your example shows, you would use :
^\d{3}-\d{3}-\d{3}$