A 24 v lead acid at 24.00 vdc unloaded 'rested' for a couple of hours is not dead but it only has about 40% rated capacity left.
At about 2.1 vdc per cell a 24 vdc lead acid battery has 12 series connected cells. It is not uncommon for a cell to go bad and short out resulting in drops of 2.1 vdc increments to terminal voltage.
You must keep a lead acid charged. Discharging takes lead from plates and sulfuric acid from electrolyte and turned them into lead sulfate on the plates and water in the electrolyte. Charging reverses the process.
Lead sulfate starts out as a soft paste but if left on plates for a month or two it will begin to crystalize. When the lead sulfate crystalizes it will not breakdown, back to lead and sulfuric acid when battery is charged. Result is battery with less capacity.
15 NiCad or NiMH batteries in series will give you the 18 vdc. (about 1.25 vdc per cell) This is what is in the electric drill battery pack, typically sub-C (SC) size.