How expensive is a SELECT that returns an empty result set?
That is about 7 requests per second if the rate is flat over the 24 hour period, which shouldn't have a noticeable impact on a decently specced SQL Server machine. If they are far more bunched then they may be more of a problem.

I would be inclined to investigate where the requests are coming from. If they don't do anything useful then they may indicate a bug in the application.

SELECT &lt;something&gt; FROM &lt;table&gt; WHERE &lt;column&gt;=&lt;value_that_doesn't_exist&gt; is not going to tax the query planner or engine really, the work top bring up and tear down a connection will be more arduous to the SQL infrastructure than the work to lookup a cached query plan and read a couple of pages to see the row does not exist.

Assuming that the Id column is the table's clustering key there will be at most a couple of page reads and they will be from RAM as they are not ever going to leave the buffer cache due to how frequently they are accessed. If that column isn't the clustering key then add another page or two to those read (again, almost certainly from RAM not disk). If the column isn't indexed at all (I'd be surprised if that is the case given it is called "Id") then things are potentially more problematical as there will be a table scan involved.