The sidereal day measures Earth's rotation against distant stars rather than against the Sun. NIST lists it as 8.616409 × 10⁴ s, which is not an exact value. The clock day of 86,400 s is the longer solar day, because Earth also moves along its orbit between one noon and the next.
Formula
86,164.09 s ÷ 3,600 = 23.9345 h = 23 h 56 min 4.09 s
Example
The difference from the clock day is 86,400 − 86,164.09 = 235.91 s, about 3 min 56 s. See how many seconds in a day for the exact 86,400 s day and the effect of the leap second.