[This answer is meant as a tutorial introduction to how one would debug problems like the OP's, so it is more detailed than the "answer" which is just the setting
of browse-url-browser-function below. But I have always found answers of the sort "Do this - problem solved" unsatisfactory: I like to understand what's going on. YMMV, in which ...
You need to enable ID links by customizing the option org-id-link-to-org-use-id. The doc string of the variable says:
Non-nil means storing a link to an Org file will use entry IDs.
The variable can have the following values:
Create an ID if needed to make a link to the current entry.
If ‘org-store-link’ is called directly (...