You need to replace with SAS drive only. All drives in a virtual disk need to be from same family (SAS or SATA) or same type ( HDD or SSD). You can not mix different family or type drive in same virtual disk.
Once new SAS drive is inserted you can wait for couple of minute to see whether rebuild is getting initiated. If not you can assign the new drive as Dedicated Hot Spare for that virtual disk which will initiate a rebuild.