I just split it into the two thoughts you had, grabbing the text, and then the potential numbers in the line.

while ($line=<DATA>) {
       my @c=($line=~/^(\w+)\t/);
        my @d=$line =~ /(\d+)/gsm;
        foreach $e (@d) {
               print  $c[0]," ", $e,"\n";
        }
}

__DATA__
abcd    723-724
abcde   552-554-553
abcdef  756
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