If there are not too many ids then you could do:

$where_clause = 'where id in ('.join(",",("?") x @id).')';
$sql .= $where_clause;
my $sth = $dbh->prepare($sql);
$sth->execute(@id);
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If there ARE too many ids, then you're stuck with:

$sql .= 'where id = ?';
my $sth = $dbh->prepare($sql);
for my $id (@id) {
 $sth->execute($id);
...
}
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How many is TOO many? Dunno. Depends. 256 or so?

Update: I like tilly's temp table idea. I've actually done that in some cases.