Access have no relation to sessions.
A session is an association of a person to a web browser.
An access token is the authorization of a client (i.e. a piece of software) to call an API (as designated by the presence of scopes in the access token).
Access tokens are as good until they expire.
24 hours is an unusually long time for an access token. Best practices is 1-5 minutes. What I would recommend is a short lived access token, with a refresh token that lives for 24 hours. This would better maintain the security profile.