I'm going to call out my coworker
Is there a reason why you want to call out your co-worker?
He called me an idiot, told my dad that I'm a failure at my job and accused me of taking something that I haven't taken.
Wow, your co-worker disrespected you big time. No wonder you are pissed off and upset which you have all the right to be. You should call out your co-worker for that kind of behavior and probably report him to HR so that you have a record of his misbehavior.
I'm not going to call out my coworker. I don't want to make him feel uncomfortable at work.
He made you uncomfortable. So it's only right to do the same thing to him. Going to HR is the proper protocol and it is the right thing to do in this situation.