There is a better physical structure than suggested by other answers:
CREATE TABLE follower ( user_id INT,
InnoDB tables are clustered , so secondary indexes behave differently than heap tables and can have unexpected overhead if you are not aware of this. Having a primary surrogate key id simply adds another index for no good reason 1 and makes the indexes {user_id, follower_id} and {follower_id, user_id} thicker than they should be (since the secondary indexes in the cluster table implicitly include a copy of the PC).
There is no surrogate key id table above and (it is assumed that InnoDB) is physically represented by two B-trees (one for the primary / clustered key and one for the secondary index), which is approximately as effective as for searching in both directions 2 . If you need only one direction, you can abandon the secondary index and go to only one B-tree.
By the way, what you did was a violation of the principle of atomicity and, therefore, 1NF.
1 And each additional index occupies a space, reduces cache efficiency and affects the performance of INSERT / UPDATE / DELETE.
2 From followers to followers and vice versa.
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