The only thing that will currently open a PDF for editing in ID is the PDF2ID plugin from Recosoft: http://www.recosoft.com/products/pdf2id
Keep in mind athat PDF is a final format, and you will not recover things like styles, anchored object settings or probably text threading, so even with the text in front of you you may have a lot of work still to do, and you might not be any further along than if you just save the text and export the images out of Acrobat.
From Acrobat, you can save the PDF as text or rich text. If the document was well-styled, import the rtf into a new ID document that matched the layout and format of the original.
http://markzware.com is actually coming out with a conversion plugin that works with InDesign. From what I have tested and seen, the conversion is quite accurate and fast.
If you are interested in doing a beta test, there is actually one going on right now:
Was very nice to test out this product and compare it to what is currently available in the market.