Because I am using a partition (sdX3) of the disks, and ZFS assumes you are using the whole disk (when it searches /dev by default), it was necessary to symlink the partition names to a new directory and zpool import referencing devices in that new directory.

# cd /etc/zfs
# ln -s /dev/disk/by-id/ata-ST2000VX000-1CU164_*-part3 .
# zfs import -d /etc/zfs -a

When using /dev/disk/by-id, I was unable to replace a failed disk with a new working disk when using human readable device paths (by-id).

I had to grab the numeric disk guid using the zdb command, and then use that ID in the zpool replace command.

Here disk S/N Z1E2EEN3 died, and was replaced with disk S/N Z1E77EXB.

# zdb | grep -B1 Z1E2EEN3
                guid: 12406595063271178607
                path: '/etc/zfs/ata-ST2000VX000-1CU164_Z1E2EEN3-part3'

# zpool replace datapool 12406595063271178607 /etc/zfs/ata-ST2000VX000-1CU164_Z1E77EXB-part3

# zpool status 
  pool: datapool
 state: DEGRADED
status: One or more devices is currently being resilvered.  The pool will
    continue to function, possibly in a degraded state.
action: Wait for the resilver to complete.
  scan: resilver in progress since Wed Jul 30 19:10:38 2014
    63.6G scanned out of 915G at 112M/s, 2h10m to go
    21.2G resilvered, 6.96% done
config:

    NAME                                         STATE     READ WRITE CKSUM
    datapool                                     DEGRADED     0     0     0
      raidz1-0                                   DEGRADED     0     0     0
        ata-ST2000VX000-1CU164_Z1E2D6LM-part3    ONLINE       0     0     0
        ata-ST2000VX000-1CU164_W1E4RN90-part3    ONLINE       0     0     0
        replacing-2                              UNAVAIL      0     0     0
          ata-ST2000VX000-1CU164_Z1E2EEN3-part3  UNAVAIL      0     0     0
          ata-ST2000VX000-1CU164_Z1E77EXB-part3  ONLINE       0     0     0  (resilvering)