Using:
SELECT c.custid
FROM CUSTOMER c
JOIN INVOICE i ON i.custid = c.custid
WHERE i.invoiceid IN (10, 20)
GROUP BY c.custid
HAVING COUNT(DISTINCT i.invoiceid) = 2
The main thing is that the calculation i.invoiceidshould be equal to the number of arguments in the sentence IN.
COUNT(DISTINCT i.invoiceid) , custid invoiceid - , DISTINCT :
SELECT c.custid
FROM CUSTOMER c
JOIN INVOICE i ON i.custid = c.custid
WHERE i.invoiceid IN (10, 20)
GROUP BY c.custid
HAVING COUNT(i.invoiceid) = 2