IDOR stands for Insecure Direct Object Reference, one of the most common flaws in the broken access control category that tops the OWASP Top 10. It happens when an application uses a value you can see and change, such as a numeric id in a URL or a JSON body, to look up a record, but never checks that the record actually belongs to you.
Picture an endpoint like /rest/basket/1. If you are user 1, that returns your basket, which is correct. The bug is when you change the 1 to a 2 and the server returns user 2's basket, because it fetched the record by id and forgot to confirm ownership. Authentication worked; authorization is missing. IDOR is dangerous precisely because it is so simple, and nearly invisible to scanners, which cannot tell that basket 5 belongs to a different user than basket 6.