Passing a collection of ID's to filter a SQL query within a stored procedure is not natively supported. Consider this article which discusses methods for passing arrays into a stored procedure.
Constraining a stored procedure's query has a simple work around, however. Passing the ID collection as a comma deliminated string allows the query to use LIKE to constrain the results. Note that the preceding and trailing commas are necessary. An example demonstrates how to do this easily.
DECLARE @Ids varchar(max);
set @Ids =
WHERE @Ids LIKE