Should I use EXISTS or IN

Should I use EXISTS or IN

I have two tables:
Foo with 24.000.000 rows
Bar with 16 rows
I'm considering rewriting query
SELECT * FROM Foo as F
WHERE EXISTS (SELECT 1 FROM Bar as B WHERE B.Baz = F.Baz)
with this one
SELECT * FROM Foo
WHERE Baz IN (SELECT Baz FROM Bar)
Edit: A third option was suggested in the comments. I didn't consider
joining because I don't need any columns from Bar
SELECT * FROM Foo as F
JOIN Bar as B on B.Baz = F.Baz
But after looking at the execution plans for both queries I couldn't spot
the difference. Are these queries really equivalent? Which query is
better?
What should I consider when deciding between EXISTS and IN. I was
wondering if SQL Server is smart enough to execute the nested query once
and store the result for comparison, or does it execute the nested query
for each row?