You don't need:

my $rowCheckQuery = qq{SELECT color_id FROM color WHERE color=?};
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in the loop. Simplify with

my $stmt = qq{SELECT color_id FROM color WHERE color=?};\
my $color_id;
foreach my $color (@color){
  $color =~ s/^\s+|\s+$//gm;
  $color_id = $dbh->selectrow_array($stmt, undef, $color); 
}
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Required reading.