As it's defined in the Scrum Guide, the Daily Scrum is an event for the Development Team. Neither the Product Owner nor the Scrum Master are required attendees, but guidance is given that the team may ask the Scrum Master to facilitate the event and that if the Scrum Master is present, they are responsible for ensuring that any other attendees aren't disrupting the Development Team's ability to inspect their work and adapt their plans.
However, even though the Scrum Guide doesn't require it, I've found it helpful for the Product Owner to attend the Daily Scrum and tend to recommend it. If there are any impactful changes to the Sprint that the Product Owner would like to raise for the team to consider, the Daily Scrum is a good place to raise the question or concern, but there probably won't be time to answer it within the 15 minute timebox. It's also a good opportunity for the Product Owner and Scrum Master to inform the team of their availability over the next day or two so the Development Team can schedule any necessary time with them.
I would also not recommend constraining anyone - including the Development Team - to the idea of "what you did yesterday, what you are doing today, and impediments". Although the Three Questions format is common (and provided as an example in the Scrum Guide), it's not always appropriate. Instead, focus on the purpose of the Daily Scrum - align on how best to achieve the goals by the end of the Sprint timebox.