In general, hyphenated URLs are better for seo than the id. Two main advantages -
Google Ranking - The keywords in link have some ranking factor as it tells a lot about the content inside the page. Although this factor is just 1 out of only G knows how many.
Higher CTR - I believe this is very important reason for having nice readable URLs. The keywords in the URL and other meta data is generally highlighted on search results. This may result in higher CTR from the users if your url has same/similar keywords the user is looking for.
E.g. if you are looking for some seo advice, you would have higher probability of clicking on: