24 volt panels are desirable because the wiring from it to the charge controller can be thinner. I'm pretty sure you need a MPPT charge controller(versus a PWM) which acts like a dc to dc converter. It basically changes the extra volts into amps at the correct voltage to correctly charge the batteries.
The bad news is MPPT controllers are expensive, and the less expensive models are not rated for 24 nominally rated volt panels. The good news is MPPT charge controllers can produce up to 30 % more power in cool weather with depleted batteries versus PWM.
If the 24v panel is small, you could hook it right upto the battery, but the battery voltage will limit the output of the panel greatly, and when the battery does eventually reach full charge, it can then go way beyond full charge and boil out the electrolyte, and the voltage can rise so high as to damage anything hooked to the battery, so it is to be avoided unless monitored very closely and the panel removed before the battery gets above 15 volts.