Be sure to check out the Idaho OHV site for information on where to (and not to) ride off-road. http://www.idaho-ohv.org/ Information on registration, riding locations, safety, hunting w/ OHV's, etc.
More information is available at the Idaho Parks and Recreation site here: http://www.idahoparks.org/recreation/motorbikesandatvs.aspx Including specific requirements for taking a bike off-road or on-road: http://www.idahoparks.org/assets/content/docs/motorbikeregs.pdf I've also saved a copy of the requirements PDF to the site for download here: www.boiseriders.net/downloads/motorbikeregs.pdf