If you don’t have foreign keys pointing your id you could add new column, fill it, drop old one and rename new to old:
alter table my_table add column new_id bigint;
begin; update my_table set new_id = id where id between 0 and 100000; commit;
begin; update my_table set new_id = id where id between 100001 and 200000; commit;
begin; update my_table set new_id = id where id between 200001 and 300000; commit;
begin; update my_table set new_id = id where id between 300001 and 400000; commit;
...
create unique index my_table_pk_idx on my_table(new_id);
begin;
alter table my_table drop constraint my_table_pk;
alter table my_table alter column new_id set default nextval('my_table_id_seq'::regclass);
update my_table set new_id = id where new_id is null;
alter table my_table add constraint my_table_pk primary key using index my_table_pk_idx;
alter table my_table drop column id;
alter table my_table rename column new_id to id;
commit;