I check the zpool status and saw that the system had been running on just 2 disk for probably a month due to write errors on one disk. Of the two remaining, another was having occasional errors that ZFS was correcting.
I pulled the bad drive, zeroed it out three times, and reinserted it. ZFS performed a resilver. After it was done, I pulled the other drive, zeroed it, and added it back.
The drives (SMART and ZFS) are no longer reporting any errors on any of the three drives and I only lost partial data on 4 files (which were replaceable).
Overall, I was surprised how resilient ZFS was and how easy the process was to replace 2 drives in a 3 drive array with minimal data loss.