I'm hitting this same issue.
The error appears to be telling you that valid Developer ID Certs have been created under your developer account, but they are not currently on your Mac, so they cannot be used.
The solution would be to download the Developer ID Cert(s) from the web. However, you likely do not have the Private Key used to sign these certs. So at this point they are rather useless.
In my case, the further problem is that I already have 5 Developer ID Certificates in my account. I'm not quite sure where these came from. They were created years ago, perhaps when I was attempting to create Mac App Store certs? Or perhaps by clicking that damn Fix Issue
button...
There appears to be a limit of 5 Developer ID Certificates per developer account, by default.
Developer ID Certificates are created, now, through Xcode rather than via the Members Center:

However, in Xcode, there is no longer a button to "Create" a new cert. The only button is "Reset". This button simply links me back to the Members Center in my web browser, so is completely useless...

Via the Members Center, Developer ID Certificates cannot be revoked, as you would an iOS or Mac App Store certificate. The "Revoke" button is Grayed out.

You can’t revoke Developer ID or Pass Type ID certificates using Member Center. Instead, send a request to Apple at product-security@apple.com to revoke these types of certificates.
Apple will only revoke these certificates in cases of security, to disable installation of the app on all client machines. I've tried emailing the above address, and they told me they could not revoke the cert.
The solution, then, is to have additional Developer ID Certificate slots added to your account, past the limit of 5.
Product Security told me, rather than revoking the certs,
We encourage you to contact Apple Developer Connection at https://developer.apple.com/support/ to resolve the issue you’re experiencing.
I've now contacted developer support. I recommend calling. They are currently, hopefully, setting up new Developer ID slots on my dev account.
When you create a new Developer ID Certificate that you will actually use, be sure to back up the Certificate and Private Key so that you do not hit this issue in the future.
EDIT:
I waited for over a month, I believe, with no response. I happened to have a ticket to an Apple TV Tech Talk and talked to an Apple representative at their lab. He was able to reset my Developer ID Certificate limit in about 5 minutes. So this is possible, but to expedite the process I would attempt to talk with a Developer Evangelist at Apple either in person or over the phone.