my $placeholders = join ',', ('?') x @ids;
my $sth = $dbh->prepare_cached(
    "SELECT id,foo,bar from table where id IN ($placeholders)",
);

$sth->execute( @ids );
$sth->bind_columns( \my ($id, $foo, $bar ) );

while ( $sth->fetch ) {
    # Put values somewhere
}
$sth->finish;