Do we need a transit visa and if so, please can you advise how to apply for it?

I am travelling with my wife and daughter (17yrs) from Paris to Auckland via Shanghai Pudong International Airport. Air France flight arrives at 06h40 on 19th Oct and Air New Zealand flight departs 14h15 on the same day, so we might wish to briefly leave the airport for a few hours. We are all New Zealand Citizens.