You will probably only receive what is known as a civil demand letter. When a person is caught shoplifting, the store can 1) send them a civil demand letter, 2) seek to prosecute them criminally, or 3) both. Usually for a person without a prior criminal record or someone who has taken a small amount of merchandise, the store will only seek a civil demand. It is a demand for money. Allegedly to be used to pay for any damage to the merchandise, a restocking fee, and/or security costs. If you choose to not pay the civil demand, the store's recourse is to sue you in the local small claims court. Stores rarely, if ever, actually sue anyone over the civil demand because it costs them more to sue you than they could ever hope to recover. Most attorneys advise to just ignore this letter - and the subsequent ones that follow. They are designed to scare you into paying their demand.
I agree that they will likely just issue a civil demand letter. If no police were called when you were there then it is highly unlikely they will try to issue any sort of criminal action and they likely only took your ID so they could issue a no trespass notice and keep record of your name and address in case they found you shoplifting again.
By answering this question I am not forming an attorney client relationship and this answer pertains only to the law as it currently stands in Massachusetts where I am licensed to practice.
Odds are no further action will be taken. However the retail store could seek a criminal complaint against for shoplifting or larceny in which a summons would issue for you in the mail or they could send you a demand letter for damages which is civil.
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