The Mazda catalog lists 3 different numbers, EC01-55-431, EC02-55-431, and EC02-55-431. However it doesn't say which one goes where. It would probably be easiest to pull the cluster out and match the bulb. There is a chance it is a LED.
LED's in the cluster are a nice upgrade. I upgraded because they gave much better lighting. Since you're going to have to pull the cluster anyway you may want to spend a few dollars on the upgrade. I changed the bulbs in my '97 Escort to LED's several years ago. It made the gauges much brighter and made them much easier to read. I used LED's I bought on eBay. I think when I bought mine about 9-10 years ago I got them for something like 10/$2 As I've got older my eyes have got worse but I don't have any problem seeing and reading the gauges in it. I don't know what kind of bulbs are in my '16 Versa cluster but they also give great light and I have no problem seeing/reading the gauges in it. I've got an '02 Escort with standard bulbs and it's like night and day difference between it and the '97 or the Versa. I do remember the stock bulbs for the gauges were larger bulbs than the ones for the idiot lights. When I replaced them in the Escort the idiot lights took a T5 base and the gauges took a T10 base.