There are two ways to do what you want to do here.
One is to create a 'dynamic sql' query and execute it, after substituting in your IN list.
DECLARE @query varchar(max);
SET @query = 'SELECT * FROM Nav WHERE CONVERT(VARCHAR,NavigationID) IN (' + @Ids + ')'
exec (@query)
This can have performance impacts and other complications. Generally I'd try to avoid it.
The other method is to use a User Defined Function (UDF) to split the string into its component parts and then query against that.
There's a post detailing how to create that function here
Once the function exists, it's trivial to join onto it
SELECT * FROM Nav
CROSS APPLY dbo.StringSplit(@Ids) a
WHERE a.s = CONVERT(varchar, Nav.NavigationId)
NB- the 'a.s' field reference is based on the linked function, which stores the split value in a column named 's'. This may differ based on the implementation of your string split function
This is nice because it uses a set based approach to the query rather than an IN subquery, but a CROSS JOIN may be a little complex for the moment, so if you want to maintain the IN syntax then the following should work:
SELECT * FROM Nav
WHERE Nav.NavigationId IN
(SELECT CONVERT(int, a.s) AS Value
FROM dbo.StringSplit(@Ids) a