As stated above: Legally, as in NH laws, no problem. If this is a condo or other place where there is an association in charge, there may be internal rules limiting boat length.
Especially at public docks, I routinely back my boat in and leave the bow extending beyond the end of the dock, so a 25-35 foot boat might use only 18-22 feet of dock. Where the manufacturer didn't provide one, I have added an extra cleat amidships to allow this. Water depth at a private dock may be a limiting factor unless you can raise your engine.
Your 24' boat may be a little heavy if the dock is only a temporary seasonal dock, and there is any wind/wave exposure.
I have friends in a cove where there is frequent wake surfing. The wakes lift the boat, which lifts and moves the dock. The cove is otherwise very protected and calm.
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