One of your products is referencing to a category_id which does not exist. Usually this should not happen when editing things through the admin-backend. Did you delete the category directly in the database?
You have to check which product is referencing the category and remove that reference. The references between category and product are stored in catalog_category_product. The categories in catalog_category_entity. To find the row you can use that query:
SELECT * FROM catalog_category_product ccp
LEFT JOIN catalog_category_entity cce ON ccp.category_id = cce.entity_id
WHERE cce.entity_id IS NULL
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