`in` keyword vs inner `join` which one is better for performance?

Question

I have the following query

select roles.roleId from roles where roles.roleId in (select userRoles.roleId from userRoles where userRoles.userId=10)

which could be done also like this

 select roles.roleId from roles, userRoles where roles.roleId = userRoles.roleId and userRoles.userId = 10;

so which one is better for performance to use the inner join or to use in keyword