There isn't support for this in servant, as (as far as I know) this comma-separated format isn't really standard. You could however indeed provide a general combinator + {From,To}HttpApiData instances.
newtype CommaSep a = CommaSep [a]
instance FromHttpApiData a => FromHttpApiData (CommaSep a) where ...
instance ToHttpApiData a => ToHttpApiData (CommaSep a) where ...
where the From instance would split on each comma character and try to parse every "component" using the supplied FromHttpApiData instance for 'a'.
If you don't care about the syntax/etc, then Arian's QueryParams suggestion would probably be the simplest solution.