Don't do it. I spent over two hours on this problem. If you put a hyphen in the id the grid renders OK but will not respond to any user events. Probably the same for the other Infragistics controls.
No errors, no warnings, just two hours of banging your head against the wall trying to remember everything you changed since you remember it last working correctly.
Stoopid grid :-(
Yes, we probably need to set an exception for this, IDs with hyphens result object names in javascript with hyphens - they are not valid, hence the client-side problems you are experiencing. In fact, hyphens in design mode show errors in designer, maybe you are setting it in code-behind...
In any case, we may need to throw a more meaningful exception in this case, thanks for reporting.