You will have to change
<id:\d+>
to
<id:\-?\d+>
in your urlManager rules.
Example:
'<controller:\w+>/<action:\w+>/<id:\-?\d+>' => '<controller>/<action>',
'<controller:\w+>/<action:\w+>' => '<controller>/<action>',
'<controller:\w+>/' => '<controller>/index',