SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    22939, 22839, 22639, 22563, 22542, 22878, 
    22650, 23022, 22936, 22900, 22506, 
    22634, 22492, 22545, 23074, 22600, 
    22820, 23094, 22590, 22621, 22857, 
    22781
  ) 
  AND category_id != 1

Query time 0.00012

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "parent", "p_category_id"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "rows": 234,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (22939,22839,22639,22563,22542,22878,22650,23022,22936,22900,22506,22634,22492,22545,23074,22600,22820,23094,22590,22621,22857,22781)",
          "attached_condition": "cscart_categories.category_id <> 1"
        }
      }
    ]
  }
}