SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1678, 1680, 1685, 1696, 1704, 1707, 1705, 
    1714, 1725, 1726, 1731, 1720, 1744, 
    1747, 1753, 1768, 1769, 1755, 1765
  ) 
  AND category_id != 414

Query time 0.00102

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "41.66"
    },
    "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": 82,
      "rows_produced_per_join": 82,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1678,1680,1685,1696,1704,1707,1705,1714,1725,1726,1731,1720,1744,1747,1753,1768,1769,1755,1765))",
      "cost_info": {
        "read_cost": "33.46",
        "eval_cost": "8.20",
        "prefix_cost": "41.66",
        "data_read_per_join": "290K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
1679 1678
1683 1678
1687 1678
1688 1678
1691 1678
1692 1678
1693 1678
1681 1680
1682 1680
1684 1680
1686 1685
1689 1685
1690 1685
1694 1685
1695 1685
1698 1685
1699 1685
1697 1696
1700 1696
1701 1696
1702 1696
1703 1696
1706 1705
1708 1705
1709 1705
1710 1705
1711 1705
1712 1705
1713 1705
1722 1705
1723 1705
1724 1705
1736 1705
1715 1714
1716 1714
1717 1714
1718 1714
1719 1714
1729 1714
1730 1714
1733 1714
1721 1720
1728 1720
1732 1720
1734 1720
1735 1720
1737 1720
1738 1720
1739 1720
1740 1720
1741 1720
1742 1720
1743 1720
1745 1720
1746 1720
1727 1726
1748 1747
1749 1747
1750 1747
1751 1747
1752 1747
1754 1747
1756 1755
1757 1755
1758 1755
1759 1755
1760 1755
1761 1755
1762 1755
1763 1755
1764 1755
1772 1755
1773 1755
1774 1755
1766 1765
1767 1765
1770 1769
1771 1769