SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2350, 2351, 2354, 2366, 2465, 2505, 2506, 
    2507, 2535, 2548, 2550, 2559, 2558, 
    2583, 2584, 2613, 2645, 2646, 2649, 
    2652, 2653, 2678
  ) 
  AND category_id != 414

Query time 0.00056

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "37.46"
    },
    "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": 71,
      "rows_produced_per_join": 71,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2350,2351,2354,2366,2465,2505,2506,2507,2535,2548,2550,2559,2558,2583,2584,2613,2645,2646,2649,2652,2653,2678))",
      "cost_info": {
        "read_cost": "30.36",
        "eval_cost": "7.10",
        "prefix_cost": "37.46",
        "data_read_per_join": "251K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}