How to enable touch-like scrolling by grabbing and dragging with the mouse?

Here is a minimal example of what I’m trying to do:

<!doctype html>
<html lang="en">
<head>
  <meta charset="utf-8">
  <meta name="viewport" content="width=device-width, initial-scale=1">
  <style>
    #box {
      background-color: red;
      width: 200px;
      height: 250px;
      overflow-x: hidden;
      overflow-y: scroll;
      cursor: grab;
    }
    #box div {
      background-color: blue;
      margin: 30px;
      width: 100px;
      height: 100px;
    }
  </style>
</head>
<body>
  <div id="box">
    <div></div>
    <div></div>
    <div></div>
    <div></div>
    <div></div>
  </div>
</body>
</html>

If you’re on mobile, you will be able to scroll through #box by touching and dragging up or down. However, if you’re on a desktop browser, then you will have to use the scrollbar or the mouse scroll wheel.

How can I enable scrolling by grabbing (i.e. pressing and holding the left mouse button) and then dragging (i.e. moving the mouse) up or down? Can I solve it with CSS only?