Since you can’t mix Values (the Numbers) with control flow logic (the commas) with prepared statements you need one placeholder per Value.
$idlist = array('260','201','221','216','217','169','210','212','213');
$questionmarks = str_repeat("?,", count($idlist)-1) . "?";
$stmt = $dbh->prepare("DELETE FROM `foo` WHERE `id` IN ($questionmarks)");
and loop to bind the parameters.