Let $G$ be a finite or compact group and $\rho: G \to \mathrm{U}(d)$ a $d$-dimensional unitary representation of $G$. If $\rho$ is irreducible then the following seems to be true: $$ \mathrm{span}_\mathbb{C} \{\rho(g) : g \in G\} = \mathbb{C}^{d \times d} $$ i.e., the complex linear span of $\rho(g)$, taken over all $g \in G$, coincides with the set of all $d \times d$ complex matrices.
Is this claim true and does this result have a name?