For one it's always recommended in all cases to absolutely avoid the use of cursors. They are known to experience very poor performance issues and 95% of the time it's possible to perform the necessary function with set-based logic.
To solve this particular problem using psuedo would look something like this:
INSERT INTO DestinationTable
SELECT CompanyID, SomeDataColumn
FROM SourceTable
WHERE ISNULL(CompanyID, 0) = 0