Suppose I have this ndjson:

{"id": "one", "colors": [{"color": "blue"}, {"color": "red"}]}
{"id": "two", "colors": [{"color": "green"}]}

How do I get the output below?

one blue
one red
two green

Here is a failed attempt:

$ cat tmp/test.json  | jq -r '.id, .colors[].color'
one
blue
red
two
green