SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1975, 1984, 1993, 2007, 2020, 2045, 2049, 
    1143, 2065, 2125, 2126, 2140, 2167, 
    2179, 2189, 2205, 2219, 2226, 1921, 
    2233, 2291, 2295, 2316
  ) 
  AND category_id != 414

Query time 0.00134

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "57.51"
    },
    "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": 115,
      "rows_produced_per_join": 115,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1975,1984,1993,2007,2020,2045,2049,1143,2065,2125,2126,2140,2167,2179,2189,2205,2219,2226,1921,2233,2291,2295,2316))",
      "cost_info": {
        "read_cost": "46.01",
        "eval_cost": "11.50",
        "prefix_cost": "57.51",
        "data_read_per_join": "406K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}