d = [pd.DataFrame(df[col].tolist()).add_prefix(col) for col in df.columns]
df = pd.concat(d, axis=1)

   id0  id1   id2  value0  value1  value2
0   10   10   NaN   apple  orange    None
1   15   67   NaN  banana  orange    None
2   12   34  45.0   apple  banana  orange