It does.
You’re comparing a solar day with a sidereal day.
The difference is in how you define the start and finish of the day.
In a solar day, you track how long it takes for the sun to get to the same point in the sky. It takes 24h00m
A sidereal day is the same thing, but with a star, not the sun. That’s the 23h56m.
Because the Earth is orbiting the sun, the relative position between the Earth, sun, and rest of the stars changes constantly.
It also explains why you can only see constellations half of the year.
Our clocks are based on how long it takes for a spot on the earth to go from facing the sun, to facing to sun again. That’s a bit more than a full rotation because we have moved relative to the sun, so it may take 23:56 to do a full rotation but it takes 24:00 to be facing the sun again from a slightly different spot. The clocks don’t track one full rotation, they track facing the sun to facing the sun.
There’s two different types of things we call “days”: solar days, and sidereal days.
A solar day is the amount of time it takes for the sun to reach from one spot in the sky, to that same spot in the sky (24 hours). This is the amount of time we use primarily because it’s the most practical length of time for us to keep track of.
A sidereal day is the amount of time it takes for the Earth to complete a full rotation in regards to some absolute point in space (23 hrs and 56 minutes). This isn’t very practical for us to use (why would we care when we’ve made a full rotation compared to an absolute point in space? That point in space isn’t important to us for any other reason) so we generally don’t.
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