Slow mysql query with huge in clause on primary key

I've got simple query with big IN clause:

SELECT test_id FROM sample WHERE id IN (99 000 of ids);

The explain gives me this result:

id  select_type  table    type   possible_keys  key         key_len   ref   rows    Extra   
1   SIMPLE       sample   range  PRIMARY        PRIMARY     4         NULL  40      Using where

The id field is primary key of sample table (~320 000 rows) and test_id is foreign key to test table - both are mysql InnoDB tables. Query takes over 2000 secs! I tried to join tables but it took a similar time. After some research i found this topic but the correct answer was only saying what the problem may be (which i don't understand, to be honest :/ ) and there is no solution other than

If these are in cache, the query should run fast

How can i speed up this query? Please be as precise as possible, cause as I found out I'm a optimization novice.

EDIT 1: SHOW CREATE TABLE sample

CREATE TABLE `sample` (
 `id` int(11) NOT NULL AUTO_INCREMENT,
 `test_id` int(11) NOT NULL,
 ...
 PRIMARY KEY (`id`),
 KEY `sample_FI_1` (`test_id`),
 ... other keys ...,
 CONSTRAINT `sample_FK_1` FOREIGN KEY (`test_id`) REFERENCES `test` (`id`),
 ... other foreign keys ...
) ENGINE=InnoDB AUTO_INCREMENT=315607 DEFAULT CHARSET=utf8 COLLATE=utf8_general_ci

There was simple join something like this:

SELECT t.* FROM test t JOIN sample s ON t.id = s.test_id JOIN sample_x x ON s.id = x.sample_id WHERE x.field_id = '321' AND x.value LIKE '%smth%';

innodb_buffer_pool_size:

SELECT @ @innodb_buffer_pool_size /1024 /1024 /1024

@@innodb_buffer_pool_size/1024/1024/1024    
 24.000000000000

Statuses:

SHOW TABLE STATUS FROM zert1442

Name        Engine   Version       Row_format     Rows       Avg_row_length         Data_length         Max_data_length         Index_length        Data_free       Auto_increment      Create_time             Update_time     Check_time  Collation         Checksum  Create_options  Comment             
...
sample    InnoDB     10            Compact        357323       592                  211632128         0                       54837248          7340032           315647                2017-02-15 10:22:03     NULL            NULL          utf8_general_ci   NULL        
test        InnoDB   10            Compact        174915       519                  90865664            0                     33947648          4194304           147167                2017-02-15 10:22:03     NULL            NULL          utf8_general_ci   NULL        
...