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While logged into Formstack.com and viewing your form, click the option to "Publish". On the publishing screen, there is an option for "URL Links". The "Hosted URL" value will be displayed here. The numbers and letters at towards the end of the URL are the unique Form ID.
For example, if "https://www.formstack.com/forms/?2193904-ZAOkQRaT4k" was the Hosted URL, then "2193904-ZAOkQRaT4k" would be the Form ID.
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