SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    458, 461, 2796, 2795, 470, 472, 473, 462, 
    480, 482, 483, 484, 463, 476, 478, 465, 
    466, 467, 464, 706, 489, 586, 583, 584, 
    589, 592, 593, 21080, 17909, 591, 2206, 
    5964, 22070, 595, 15983, 596, 597, 599, 
    15606, 19199, 19200, 19201, 6959
  )

Query time 0.00084

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "15.07"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 72,
      "rows_produced_per_join": 72,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "7.87",
        "eval_cost": "7.20",
        "prefix_cost": "15.07",
        "data_read_per_join": "188K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (458,461,2796,2795,470,472,473,462,480,482,483,484,463,476,478,465,466,467,464,706,489,586,583,584,589,592,593,21080,17909,591,2206,5964,22070,595,15983,596,597,599,15606,19199,19200,19201,6959))"
    }
  }
}