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my $sth = $dbh->prepare_cached("SELECT foo,bar from table where id = ?
+");
for my $id (@ids) {
...
    my @results = $sth->fetchrow_array;
    $sth->finish;
}

my $placeholders = join ',', ('?') x @ids;
my $sth = $dbh->prepare_cached(
...
    # Put values somewhere
}
$sth->finish;