Lots of this is covered elsewhere, sorry if it's repeating/obvious for some....
Could you connect one of these panels direct to a 24V battery, yes, would that be a good idea? No.
Like the label says that panel will put out up to 44.5V. If you don't have a controller to stop it, this would fry a 24V battery eventually.
Remember Lithium cells are not tolerant of overcharging or over discharge & will die soon.
Sounds like you've figured out you do need a controller, great
Max power:
To get the most power out of a panel, the panel(s) need to run at their max point point for voltage & current.
Power = V x I.
If you direct connect that panel to a battery at 24V, Vpanel = Vbattery, current out would be somewhere between the short current (5.92A) & the max power current (5.1A), say 5.5A
So power into battery is only = 24 x 5.5A = 132W.
If you connected the panel via a real MPPT charger, the charger will let the panel work at it's max power point & deliver more current to the battery, eg Vpanel = 37V, Imax point = 5.1A
So power collected = 37 x 5.1 = 188.7 ie heaps more.
Real measured numbers are probably going to be a bit lower for many reasons but you get the idea.
With a charge controller, it needs to be able to take the max voltage & current the panels can put out.
So for the max voltage, this would be eg when the batteries get to full & little current is being pulled from the panels so they rise up to the Voc voltage (44.5V)
For two panels in series, double this & the controller will be getting nearly 90V at it's input. Three panels (133.5) would pretty likely cause failure of a 2424 MSE.
For the current in & out of the charger, with the controller running the panels at max point point, the amps out of the controller can be found like this:
Power in divided by battery voltage. ie Pin/Vbat = Iout
So Pin = 188.7 from above, Vbat =24V so it's 188.7/24 = 7.86A for one panel
If you put two panels in series at max power then numbers would be:
(37 x 2)V x 5.1A = 377.4W. Then MPPT charger does it's step down thing: 377.4 W in/24V bat = ~15.7A
If you did the panels 2s2p, (ie 4 panels in 2 series strings which are in parallel) then you'd be getting:
(37 x 2)V x (5.1 x 2)A = 754.8W. After the charger it'd be 754.8/24V = 31.45A
Keep an eye on the current the cables can take!
Hope that helps.