How do I lag columns in MySQL?

Consider the following table:

SELECT id, value FROM table ORDER BY id ASC;
+-----+---------+
| id  | value   |
+-----+---------+
| 12  | 158     |
| 15  | 346     |
| 27  | 334     |
| 84  | 378     |
| 85  | 546     |
+-----+---------+

The id column is auto-incremented but contains gaps. The value column is numeric.

I want to look at the increase in value over time by setting value in relation to the value two rows above. That is for row id=85 I want to set the value of row id=85 (546) in relation to the value of row id=27 (334). The value to be computed for row id=85 is hence 546/334=1.63473.

This is the result I want to achieve:

SELECT id, value, ...;
+-----+---------+---------------------+
| id  | value   | value/lag(value, 2) | (the syntax value/lag(value, 2) is made up)
+-----+---------+---------------------+
| 12  | 158     | NULL                |
| 15  | 346     | NULL                |
| 27  | 334     | 2.11392             | (334/158=2.11392)
| 84  | 378     | 1.09248             | (378/346=1.09248)
| 85  | 546     | 1.63473             | (546/334=1.63473)
+-----+---------+---------------------+

How do I perform such lagging in MySQL?

Please note that the id column contains gaps, so simply joining on the same table with t1.id = t2.id - 2 will not work.