Yes. Simply set the idseparator attribute in the document header.
```asciidoc
=3D Document Title
:doctype: book
:idprefix:
:idseparator: -
=3D=3D Chapter Name
content
```
This will produce:
```xml
...
<chapter xml:id=3D"chapter-name">
...
</chapter>
...
```
Cheers,
-Dan