OAuth 2.0 spec doesn't define the part. But there could be couple of options:
When resource server gets the token in the Authz Header then it calls the validate/introspect API on Authz server to validate the token. Here Authz server might validate it either from using DB Store or verifying the signature and certain attributes. As part of response, it decodes the token and sends the actual data of token along with remaining expiry time.
Authz Server can encrpt/sign the token using private key and then publickey/cert can be given to Resource Server. When resource server gets the token, it either decrypts/verifies signature to verify the token. Takes the content out and processes the token. It then can either provide access or reject.