SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2863, 10121, 2867, 10122, 2871, 2872, 
    2873, 2875, 2876, 2877, 2879, 2881, 
    2882, 2886, 2889, 2891, 2893, 2896, 
    10225, 10226, 10533
  )

Query time 0.00068

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "10.23"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 23,
      "rows_produced_per_join": 23,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "5.63",
        "eval_cost": "4.60",
        "prefix_cost": "10.23",
        "data_read_per_join": "136K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`webmarco`.`cscart_categories`.`parent_id` in (2863,10121,2867,10122,2871,2872,2873,2875,2876,2877,2879,2881,2882,2886,2889,2891,2893,2896,10225,10226,10533))"
    }
  }
}