I have to get the below output

You need GROUP BY with a HAVING clause to identify the single entry rows:

SELECT ID FROM MyTable GROUP BY ID HAVING COUNT(ID) = 1

That gives you just the ID values you are interested in:

ID
2
3

You then use a JOIN back to the original table to get the Type and ID together:

SELECT a.ID, b.Type 
FROM (SELECT ID FROM MyTable GROUP BY ID HAVING COUNT(ID) = 1 ) a
JOIN MyTable b ON a.ID = b.ID

Which gives you the result you want:

ID	Type
2	xxx       
3	xxx