There is an existing open issues on the pipeline ID.
The doc which you mentioned doesn't provide much information about pipelineID.
As per microsoft
pipelineId appears to be BuildId, and not the build definition id. It
needs the actual instance id of where the artifact is associated. I
was able to make this work by referencing a release variable tied to
the artifact alias. My alias is named "artifacts" and using
$(RELEASE_ARTIFACTS_ARTIFACTS_BUILDID) did the trick. So the format
would be $(RELEASE_ARTIFACTS_<alias>_BUILDID)
If you were trying to consume in a build and not a release pipeline
you would need to somehow get the value of $(Build.BuildId)
I hope as this matures there are plans to make pipeline artifacts
published from a build automatically in release, just like they are
when using the old Build Artifacts. Currently for me that is not
happening so I am forced to manually add this step to my release
pipeline and associate it with the build pipeline.