To filter for values in jq the select function can be used in combination with contains. The contains(arg) function will return true if the input completely contains the provided argument.

json='[{ "id": "foo" }, { "id": "bar" }, { "id": "baz" }]'

echo $json | jq -c '.[] | select(.id | contains("ba"))'

# {"id":"bar"}
# {"id":"baz"}

Or use == when an exact match is required

json='[{ "id": "foo" }, { "id": "bar" }, { "id": "baz" }]'

echo $json | jq -c '.[] | select(.id == "baz")'

# {"id":"baz"}