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Except with dentures, missing teeth can be replaced with dental implants. People made and used dental implants since some 4000 years ago, using bamboo pegs and seashells instead of missing teeth.
Since ancient times we had problems with crooked teeth. They interfered with proper eating and were not too aesthetically pleasing. Because of that, we tried to invent mechanical aids that helped us to fix them. Read about history of orthodontics.
Dentures are old invention and although they were crude in the beginning, people wore them rather than to eat without them. At first they were made from materials from nature but in time we started making them from synthetic materials which made them better. Read more about history of dentures.
Toothbrushes are the most important instrument in maintaining of oral hygiene. At first they were made from primitive materials that grew their own bacteria but today we have toothbrushes that do their job much better.