Note that I wouldn't mention the domain in question here if you are thinking of taking legal action.
Also, if the domain in question is just a generic term, then it will be very difficult if not impossible to argue that it is rightfully yours, so consider this carefully before attempting to play hardball, and maybe the softly softly "here's a nice offer" approach will work better.
If it's a unique brand term related to your business only then things will be a lot easier and the reg dates could be used to argue an abusive registration by them.