Two issues –
your rewrite rule isn’t formatted correctly, this:
'shop-guide/shop-page/id/([^/]*)/'
should be:
'shop-guide/shop-page/id/([^/]*)/?$'
and if shop-guide and shop-page are parent / child pages, this:
'index.php?p=143&id=$matches[1]'
should be:
'index.php?pagename=shop-guide/shop-page&id=$matches[1]'