Let the radius of each of the 24 cylinders be r and the height of the rectangular box be 2r to accommodate two layers. Since the cylinders are tightly packed in a 3 by 4 grid per layer, the dimensions of the box are 8r by 6r by 2r, giving a total box volume of 96r^3. The volume of a single cylinder is πr^2h, and substituting h = 2r gives 2πr^3, making the total volume of all 24 cylinders 48πr^3. The percentage of empty space is found by subtracting the cylinders' volume from the box volume, dividing by the box volume, and multiplying by 100, which is ((96r^3 - 48πr^3) / 96r^3) times 100 = (1 - π/2) times 100, yielding approximately 21.43 percent.