Since arch linux did not have working packages, I decided to write a script to manually build these packages from source which fixed the issues I was having.
First, download and run the script to build the packages (assuming you have a compiler toolchain such as build-essential on debian or base-devel on arch).
./idevicerestore.sh
Now you can restore an ipsw to the active idevice.
idevicerestore ./myfirmware.ipsw