Coil Specifications
36.9mA @ 24VDC
Min. Operating Voltage - 80% of the rated coil voltage (24 * .8 = 19vdc minimum voltage to coil)
You cannot drive this coil directly from your arduino in any case.
the rating for the above mentioned 2N3904 is 200ma (if memory serves) so it would drive this relay fine.
Don't forget to research what resistor you need between the Arduino and the base of the transistor to avoid an over current situation on the output pin when driving the transistor.