SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    3802, 19820, 20983, 3803, 3784, 22165, 
    3804, 5740, 13519, 17676, 11891, 11903, 
    3605, 3758, 3607, 3606
  )

Query time 0.00091

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "3.88"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 16,
      "rows_produced_per_join": 16,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.28",
        "eval_cost": "1.60",
        "prefix_cost": "3.88",
        "data_read_per_join": "41K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (3802,19820,20983,3803,3784,22165,3804,5740,13519,17676,11891,11903,3605,3758,3607,3606))"
    }
  }
}