An efficient way to get the difference between two arrays of objects?

I have two arrays of objects:

var a = [  {'id': 20},   {'id': 15},   {'id': 10},   {'id': 17},   {'id': 23}  ];

var b = [ {'id': 90},   {'id': 15},    {'id': 17},   {'id': 23}  ];  

I'd like to get objects which are in a, but not in b. Results from this example would be:

{'id': 20} and {'id': 10}.

Because the arrays could be large, I need an efficient way to do this.