I think you can use page.waitForSelector(selector[, options])
function for that purpose.
const puppeteer = require('puppeteer');
puppeteer.launch().then(async browser => {
const page = await browser.newPage();
page
.waitForSelector('#myId')
.then(() => console.log('got it'));
browser.close();
});
To check the options avaible, please see the github link.