SQL Server 2012 :: Null Values With Joins?

CREATE TABLE A (ID INT IDENTITY (1,1))
CREATE TABLE B (ID INT, EMPID VARCHAR(10))
INSERT INTO A DEFAULT VALUES
GO 5
INSERT INTO B VALUES (1,'E23')
INSERT INTO B VALUES (1,'E24')
INSERT INTO B VALUES (2,'E23')

from the above code i would like to get output like

ID EMPID
1 23
2 23
3 null
4 null
5 null
1 24
2 null
3 null
4 null
5 null

I'm trying like

select a.id, b.empid from (
select * from a cross join (
select distinct empid from b) b
) a

left outer join b on a.id = b.id but i get repetitive rows.