Import my entire novel to InDesign?

Well, there are several layers of answer here. The first that occurs to me is that Scrivener is supposed to be a soup-to-nuts tool, from organizing your ideas all the way to exporting print-ready pages — isn't it? If you've come this far in the tool, and your goal is the relatively simple one of print editions of a novel from amateur/indie publisher friendly sources like KDP, why complicate things by switching to any other tool?

The other end of the answers is that yes, InDesign is probably the premier publication layout tool available, with few limitations in producing print-ready pages of any complexity and for any destination print method or process. So if you want maximum capability and professional features, there are few if any serious challengers you could choose instead.

As for the direct question  — I don't know offhand what formats Scrivener exports to, but in general the whole writing/publishing industry is pretty Word-centric, and InDesign imports Word very well, especially when the files are very "clean" (which can get into fairly complex areas to fully explain). I would export to either RTF or Word DOCX, and then as a suspenders-and-belt operation, open that export file in a copy of Word and re-save it as DOCX. (Word as a standard is a little slack, and import problems often trace to faults in export from tools like Google Docs, Pages, and — I would suppose — Scrivener. A cleanup pass through Word can often help. But in general any Word format from any source is as good as any other, and most import problems come with things like extensive endnotes and complex formatting, not basic novel layouts.)

Note that InDesign is not 'yet another word processor' and does not work quite like Word etc. There is a fairly steep initial learning curve, even for what seems like the basic process of setting up a document with page sizes and margins and then dumping prepared text into it. It's also extremely styles-driven, so if you are the sort of word processor user who is casual about defining and using styles and uses a lot of local or spot formatting (grab some text, apply bold, grab some text, apply a font, etc.) then you may find getting started with InDesign, and getting to a clean, press-ready layout, a bit of a headache. In a word, ID is more "manual" than most word processors and you have to tell it, define, apply, and adjust things that Word et al. sort of do automatically (if badly, from a document management perspective). ID can handle complexities like multi-file Books, footnotes, endnotes, many kinds of lists like TOCs, Indexes and cross-references, tables and illustrations without breaking a sweat... but that's not saying the same for a new user who may not need any of those advanced layout features.

The best thing you can do is work through the basic set of InDesign tutorials until you're comfortable setting up a new document with all the features needed for book printing, with page sizes, format, margins, and a set of styles that accomplish your goals. Just plunging in and figuring it out while you go has not, if reported experience is any guide, the most productive path.

So, again: why do you want to make this midstream choice if you are (apparently) comfortable with Scrivener? Especially with a novel, which as simply pages of flowing text with some chapter and section breaks, is pretty much the simplest long-form document there is? What do you expect ID to bring to the effort?