How to avoid certain characters in MySQL full text search?
This situation seems to be the result of a bad design decision. 

As this column is not storing human readable content, but is to be used as an identifier, the content of this column should have a uniform structure, either with or without the dashes, but not mixing them! You'd also have a hard time having a UNIQUE constraint on this column...

I'd recommend stripping the dashes from the table:

UPDATE table SET parcel_number = replace(parcel_number,'-', '');


MySQL replace reference

Then you only have to strip the dashes from the the search string too. I assume ab-cd-ef is the same as abcdef. Do note however that doing so means a-bcd-ef and ab-cd-ef will be treated as being the same.