All good advice, avoid it if all possible. But here's a tale of a start-up WITH a hyphen. And I sold it for millions. ; )
When we founded Clay Tablet Technologies in 2005 - we loved the name we'd struggled to come up with. It fit our (at the time) revolutionary approach to content management in multiple languages, was catchy - tablets weren't yet huge, so confusion was minimal and our designer came up with great artwork. But the URL wasn't available!
So we went with clay-tablet.com. I've said and typed that SO many times in the last decade that it flows effortlessly. But I too fretted over the "friction" it would cause in those very early days. Further - there was another (unrelated) firm using claytablet.com.
But we went for it. If your idea, team and timing are right - hyphens, while avoided if possible, won't stand in your way.
We went on to drive millions in revenue through web leads, built a global brand and landed many of the world's largest web properties as clients.I sold the firm last year for 5X. And the hyphen's still there. ; )
The moral of the story is that if the vision is crisp and compelling, and the name is perfect for the brand you're building - while certainly adding a bit of friction - a hyphen won't kill you.
PS. To technically answer your initial q - our logo omits the hyphen.