SQL -Listing between Two dates for each record

My data source looks like below.

And I want output like below.

Basically, it should list each Employee multiple times for each date between those periods.

For quick and easy, below is the Temp Data code.

DROP TABLE IF EXISTS #Emp

CREATE TABLE #Emp
(
    EmpID VARCHAR(6), 
    StartDate DATE, 
    EndDate DATE
)

INSERT INTO #Emp 
VALUES ('E001','2021-08-01', '2021-08-05'),
       ('E002','2021-08-22', '2021-08-22'),
       ('E003','2021-08-15', '2021-08-17')

Answer

Build a calendar table and join that.

Select e.EmpId, c.Date
from #Emp e
join Calendar c
  on c.Date between e.StartDate and e.EndDate