You might be able to create a filter that says "SFDC Created Date IS NOT empty", as opposed to using the ID.
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You should use SFDC Type IS NOT EMPTY.
SFDC ID will only appear if you do some special work to make that visible in Marketo. There's a thread on it. I think you have to create the fields in SFDC, push the SFDC ID in there, and then sync to Marketo.
There are no doubt several ways to get this:
- Use native functionality such as SFDC Type
- SFDC Created date (could be a false positive)
- Create a custom field in Marketo to note if it was / is synced. It's fairly easy to get a lead/contact ID added to an object.