You can do this with jsonpath "$[*].id" includes "123".

The [*] iterates over every object in the list, the .id extracts the id field from each object, and the includes predicate matches any item in the resulting list. This is not very clear from the docs, but there is an off-hand reference to using [*] tucked away in the assertion docs and then a reference to the includes predicate in the grammar docs.