Traveling with my husband and two children to Japan. Flight has a long lay over on Shanghai

We are us citizen traveling to japan as turist for 9 days. My husband children (1.5 years old and 3.5 years old) and me.
Both layovers are in Shanghai for 17 hours. Going to Japan and return to USA.
Do we need to process the visa $140 for each of us?
Also! We would like to get out of the airport for dinner and hotel in Shanghai!!