Question

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What are valid values for the id attribute in HTML?

Underscores seem fine. What about dashes? Other special characters?

Answer 1

Actually there is a difference between HTML and XHTML.
As XHTML is XML the rules for XML IDs apply:

Values of type ID MUST match the Name production.

NameStartChar ::=   ":" | [A-Z] | "_" | [a-z] | [#xC0-#xD6] |
                          [#xD8-#xF6] | [#xF8-#x2FF] |
                          [#x370-#x37D] | [#x37F-#x1FFF] |
                          [#x200C-#x200D] | [#x2070-#x218F] |
                          [#x2C00-#x2FEF] | [#x3001-#xD7FF] |
                          [#xF900-#xFDCF] | [#xFDF0-#xFFFD] |
                          [#x10000-#xEFFFF]

NameChar     ::=      NameStartChar | "-" | "." | [0-9] | #xB7 |
                        [#x0300-#x036F] | [#x203F-#x2040]

Source: Extensible Markup Language (XML) 1.0 (Fifth Edition) 2.3

For HTML the following applies:

id = name [CS]
This attribute assigns a name to an element. This name must be unique in a document.

ID and NAME tokens must begin with a
letter ([A-Za-z]) and may be followed
by any number of letters, digits
([0-9]), hyphens ("-"), underscores
("_"), colons (":"), and periods
(".").

Source: HTML 4 Specification, Chapter 6, ID Token