How to get jq to output a long dataset?

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 blueone redtwo green

Here is a failed attempt:

$ cat tmp/test.json  | jq -r '.id, .colors[].color'oneblueredtwogreen

Here is a second failed attempt:

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