In general, to set a video's FPS to 24, almost always you can do:
With Audio and without re-encoding:
# Extract video stream
ffmpeg -y -i input_video.mp4 -c copy -f h264 output_raw_bitstream.h264
# Extract audio stream
ffmpeg -y -i input_video.mp4 -vn -acodec copy output_audio.aac
# Remux with new FPS
ffmpeg -y -r 24 -i output_raw_bitstream.h264 -i output-audio.aac -c copy output.mp4
If you want to find the video format (H264 in this case), you can use FFprobe, like this
ffprobe -loglevel error -select_streams v -show_entries stream=codec_name -of default=nw=1:nk=1 input_video.mp4
which will output:
h264
Read more in How can I analyze file and detect if the file is in H.264 video format?
With re-encoding:
ffmpeg -y -i input_video.mp4 -vf -r 24 output.mp4