Python: Finding individuals with conditions from two lists using Python (pandas)

I have the following dataframe:

df = 
id medication
1  A
1  B
1  A
2  Z
2  A
2  A
3  B
3  D 
3  A

I create two lists of medications:

ListA = ['A', 'Z']
ListB = ['B', 'C']

I want to obtain those individuals that have any of the medications from listA and any of the medications from listB so that the answer is:

dfOutput = 
id medication
1  A
1  B
3  B
3  A

So far I am trying the following:

dfOutput = df.groupby("id").filter(lambda x : pd.Series([*ListA,*ListB]).isin(x['medication']).all())

>Solution :

(df.groupby('id')['medication']
  .agg(result = lambda x: x.isin(ListA).any() and x.isin(ListB).any())
  .reset_index().merge(df)
  .loc[lambda x: x['medication'].isin(ListA+ListB)*x.result].drop_duplicates())

   id  result medication
0   1    True          A
1   1    True          B
6   3    True          B
8   3    True          A