If Function between different sheets

I'm trying to get an if function or something similar to work here. I have two different sheets and I'm trying to match an ID number. If the ID number appears on both sheets, I want the cell value to return with "Yes" and if not, "No". For example, this is the formula I currently have:

=IF([ID Number]1 = {First Year Experience 19-20 Range 1}, "Yes", "No")

Any help would be appreciated.


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