Replace commas between categories in title

Hello guys and thanks for the great plugin!

I’m displaying post categories in post titles using %%category%% parameter.
Unfortunately, the categories are separated by commas, and I need them to be separated by “-“.

Now the title looks like this:
Post name – Parent Category, Category – Site Name

I need to have this:
Post name – Parent Category – Category – Site Name

Can you please help me and give a hint where I can fix it?

Thank you!

https://ww.wp.xz.cn/plugins/wordpress-seo/