SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    1, 18, 20, 23, 24, 46, 54, 64, 74, 101, 102, 
    120, 123, 179, 192, 206, 237, 241, 249, 
    261, 295, 306
  )

Query time 0.00042

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["category_id"],
      "rows": 22,
      "filtered": 100,
      "index_condition": "cscart_categories.category_id in (1,18,20,23,24,46,54,64,74,101,102,120,123,179,192,206,237,241,249,261,295,306)"
    }
  }
}