SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1204, 1202, 1201, 1203, 1199, 1212, 1213, 
    1208, 1223, 1222, 1214, 1244, 1259, 
    1245, 1246, 1249, 1248, 1247, 1250, 
    1251, 1254, 1252, 1253, 1256, 1258, 
    1257, 1255, 1261, 1260, 1264, 1265, 
    1262, 1277
  ) 
  AND category_id != 414

Query time 0.00098

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "40.66"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 72,
      "rows_produced_per_join": 72,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1204,1202,1201,1203,1199,1212,1213,1208,1223,1222,1214,1244,1259,1245,1246,1249,1248,1247,1250,1251,1254,1252,1253,1256,1258,1257,1255,1261,1260,1264,1265,1262,1277))",
      "cost_info": {
        "read_cost": "33.46",
        "eval_cost": "7.20",
        "prefix_cost": "40.66",
        "data_read_per_join": "254K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
1200 1199
1205 1199
1206 1199
1207 1199
1209 1208
1210 1208
1211 1208
1215 1214
1216 1214
1217 1214
1218 1214
1219 1214
1220 1214
1221 1214
1224 1214
1225 1214
1226 1214
1227 1214
1228 1214
1229 1214
1230 1214
1231 1214
1232 1214
1233 1214
1234 1214
1235 1214
1236 1214
1237 1214
1238 1214
1239 1214
1240 1214
1241 1214
1242 1214
1243 1214
1263 1262
1266 1262
1267 1262
1268 1262
1269 1262
1270 1262
1271 1262
1272 1262
1273 1262
1274 1262
1275 1262
1276 1262