SELECT * FROM Menu WHERE ID IN ([Array of IDs])

public function basket($ids) {
    require dirname(__FILE__) .  '/../../dbconnect.php';
    $sql = "SELECT * FROM `Menu` WHERE `ID` IN (:ids)";
    $stmt = $pdo->prepare($sql);
    $stmt->bindValue(':ids',$ids);
    $stmt->execute();
    $result = $stmt->fetchAll();
    echo json_encode($result);
}