You can ignore that warning. To be honest it is not an accurate description of the peer status codes. A minus does not mean that the server is unreliable. It means that the peer was discarded by the cluster algorithm. This is a normal by product of the clock selection algorithm.
The other answer suggests using servers from the pool project. The pool project monitors servers and removes those that are misfunctioning. However it will not eliminate servers that have a minus in the peer status code for you. Furthermore as a client you have no control over what servers the pool project randomly assigns you. Given a decent list of peers it is very likely that one server will be rejected by the clustering algo. This can be for any number of reasons such as latency spikes or temperature changes. Here is my ntpqq billboard from machine I just booted up. I have my local ntp server (stratum 1 GPS), another stratum 1 server that is close to me and four servers that that the pool project randomly selected for me randomly.
dfc@jumbo:~$ ntpq -p
remote refid st t when poll reach delay offset jitter
==============================================================================
*ronin.llamahaus .GPS. 1 u 58 64 7 0.187 -0.168 0.789
+clock1.alb1.ino .CDMA. 1 u 59 64 7 37.231 6.703 3.304
+pool-test.ntp.o 204.123.2.5 2 u 60 64 7 77.727 1.775 1.139
-defiance.terran 209.118.204.201 3 u 59 64 7 50.638 10.097 1.630
-ponderosa.piney 209.51.161.238 2 u 57 64 7 37.756 9.511 2.780
+greenwix.netlob 216.218.254.202 2 u 56 64 7 87.031 -2.368 1.846
There are two servers with a minus sign in front of them, these are pool servers. ntp did not select those to sync the time with. The server with the star is the peer I am synced with and the the servers with the plus signs were the other candidates.
TLDR: Ignore the warning from lynis. Check out the documentation from ntp.org if you want to read more about the peer status codes .