Do we need a transit visa to leave the airport at Pudong (NZ passport holders)

My daughter and I will be travelling (home) to NZ and will have several hours in Shanghai. We plan to leave the airport and visit the Bund.
We have been given different advice and want to check if anyone knows if we need a visa to leave the airport or not and if so which type of visa do we need?
We will both be travelling on NZ passports.