doc: remove dashes

The use of dashes -- in general, but especially in our docs -- can be problematic. It is used inconsistently and there is always another form of punctuation that is as good or better for the situation. In an effort to reduce the number of variations we use to display the same types of information, remove the various uses of dashes from the documentation.

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• documentation is changed or added
• commit message follows commit guidelines