Populate HTML Table using Javascript

I want to populate a predefined html table using JavaScript:

<table>
    <tr>
        <th scope="col">ID</th>
        <th scope="col">Name</th>
    </tr>
    <div id='data'/>
</table>

using

document.getElementById('data').innerHTML = ....

But since <div> is not allowed inside of <table> above code doesn't work. What is the correct way to achieve this?