SELECT * FROM posts p
LEFT JOIN post_author pa ON p.id = pa.post_id
LEFT JOIN authors a ON a.id = pa.author_id
WHERE ...?
SELECT `post_id` FROM `posts` WHERE `author_id` IN (:id1, :id2, :id3)
SELECT `p1`.`post_id`
FROM `posts` AS `p1`
JOIN `posts` AS `p2`
ON `p2`.`post_id` = `p1`.`post_id` AND `p2`.`author_id` = :id2
JOIN `posts` AS `p3`
ON `p3`.`post_id` = `p1`.`post_id` AND `p3`.`author_id` = :id3
WHERE `p1`.`author_id` = :id1