my @ids = ( 1, 2 );

my $value_lookup_sth = $dbh->prepare("
   SELECT value
    WHERE id IN (" . join(',', ('?') x @ids ) . ")
");

$value_lookup_sth->execute(@ids)
   or debug($DBI::errstr);
[download]

or

sub plist { '(' . join( ',', ('?') x $_[0] ) . ')' }

my @ids = ( 1, 2 );

my $value_lookup_sth = $dbh->prepare("
   SELECT value
    WHERE id IN ".plist(0+@ids)."
");

$value_lookup_sth->execute(@ids)
   or debug($DBI::errstr);
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or if you're particularly silly

{
   package My::plist;
   use Tie::Array;
   our @ISA = 'Tie::Array';
   sub TIEARRAY { bless [], shift }
   sub FETCH { '(' . join( ',', ('?') x $_[1] ) . ')' }
}

tie my @plist, 'My::plist';

my @ids = ( 1, 2 );

my $value_lookup_sth = $dbh->prepare("
   SELECT value
    WHERE id IN $plist[@ids]
");

$value_lookup_sth->execute(@ids)
   or debug($DBI::errstr);
[download]