SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    14063, 11978, 11982, 14064, 11983, 11996, 
    4148, 11984, 14065, 11979, 4151, 11986, 
    14066, 11980, 4150, 11985, 14067, 11981
  )

Query time 0.00062

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "6.68"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 30,
      "rows_produced_per_join": 30,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "3.68",
        "eval_cost": "3.00",
        "prefix_cost": "6.68",
        "data_read_per_join": "78K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (14063,11978,11982,14064,11983,11996,4148,11984,14065,11979,4151,11986,14066,11980,4150,11985,14067,11981))"
    }
  }
}