SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2699, 2719, 2766, 2796, 2987, 3111, 3152, 
    3333, 3342, 3368, 3161, 2878, 2802, 
    2923, 3115
  ) 
  AND category_id != 414

Query time 0.00092

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "53.26"
    },
    "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": 110,
      "rows_produced_per_join": 110,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2699,2719,2766,2796,2987,3111,3152,3333,3342,3368,3161,2878,2802,2923,3115))",
      "cost_info": {
        "read_cost": "42.26",
        "eval_cost": "11.00",
        "prefix_cost": "53.26",
        "data_read_per_join": "389K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
2700 2699
2701 2699
2702 2699
2703 2699
2704 2699
2705 2699
2720 2719
2721 2719
2722 2719
2723 2719
2767 2766
2797 2796
2798 2796
2799 2796
2803 2802
2804 2802
2809 2802
2810 2802
2813 2802
2814 2802
2817 2802
2819 2802
2826 2802
2831 2802
2832 2802
2836 2802
2848 2802
2849 2802
2879 2878
2880 2878
2883 2878
2884 2878
2885 2878
2886 2878
2887 2878
2890 2878
2891 2878
2892 2878
2893 2878
2896 2878
2899 2878
2900 2878
2903 2878
2904 2878
2908 2878
2910 2878
2911 2878
2912 2878
2915 2878
2916 2878
2917 2878
2918 2878
2919 2878
2924 2923
2925 2923
2926 2923
2927 2923
2928 2923
2929 2923
2930 2923
2932 2923
2933 2923
2988 2987
2989 2987
2990 2987
2991 2987
3112 3111
3113 3111
3114 3111
3116 3115
3117 3115
3118 3115
3119 3115
3120 3115
3121 3115
3122 3115
3123 3115
3124 3115
3125 3115
3126 3115
3127 3115
3129 3115
3131 3115
3133 3115
3153 3152
3154 3152
3155 3152
3156 3152
3157 3152
3158 3152
3159 3152
3160 3152
3162 3161
3163 3161
3164 3161
3165 3161
3166 3161
3167 3161
3168 3161
3169 3161
3334 3333
3335 3333
3336 3333
3337 3333
3338 3333
3339 3333
3340 3333
3341 3333
3369 3368
3370 3368
3371 3368
3372 3368
3373 3368