sql insert rows from another table based on condition

Consider the following two tables

Table 1

ID    DATA
1      'A'
2      'B'
3      'C'
4      'D'
5      'E'
6      'F'

Table 2

ID    DATA
2       'G'
3       'F'
4       'Q'

How do I insert data into Table 1 from Table 2 where Table 2 doesn't have Table 1's ID?

In other words, I'd like the following result:

Table 2

ID    DATA
1       'A'
2       'G'
3       'F'
4       'Q'
5       'E'
6       'F'