You could use a query like this:
SELECT
id,
SUBSTRING_INDEX(SUBSTRING_INDEX(colors, ',', n.digit+1), ',', -1) color
FROM
colors
INNER JOIN
(SELECT 0 digit UNION ALL SELECT 1 UNION ALL SELECT 2 UNION ALL SELECT 3) n
ON LENGTH(REPLACE(colors, ',' , '')) <= LENGTH(colors)-n.digit
ORDER BY
id,
n.digit
Please see fiddle here. Please notice that this query will support up to 4 colors for every row, you should update your subquery to return more than 4 numbers (or you should use a table that contains 10 or 100 numbers).
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