You can get all the missing ID's from a recursive CTE, like this:
with recursive numbers as (
select 1 number
from rdb$database
union all
select number+1
from rdb$database
join numbers on numbers.number < 1024
)
select n.number
from numbers n
where not exists (select 1
from table t
where t.id = n.number)
the number < 1024
condition in my example limit the query to the max 1024 recursion depth. After that, the query will end with an error. If you need more than 1024 consecutive ID's you have either run the query multiple times adjusting the interval of numbers generated or think in a different query that produces consecutive numbers without reaching that level of recursion, which is not too difficult to write.