[Docs] Include hyphen to the pipeline ID restriction definition

[mashhurs]

Tell us about the issue

Description:
Pipeline ID restriction (regex patter) allows hyphen to the pipeline ID but this isn't mention in the docs and pipeline ID validation message. This issue should address this gap.

URL:

https://www.elastic.co/docs/reference/logstash/configuring-centralized-pipelines#wildcard-in-pipeline-id