Use the ^ key to insert a power (it's located above the division key) then put a negative power by typing the negative key (located at the very bottom right of the keypad next to the ENTER key) and then the number of the power.
10^-3
If this doesn't give the right result, put the negative power in parentheses. I can't remember off hand if you need to do that or not.
10^(-3)
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