This unit happens to work up to 35V so it is not a 12V driver at all, what ever made you think it was.
So yes you can control two 24V motors with this if you want.
I think that only refers to the the maximum output voltage at 15A. It is a power limitation not a driver limitation. So if you feed it with 24V the maximum current you should draw should be no more than 8.6A. Or you could add extra heat sinks on the FETs.
It is a pity that their is so little real information about this product.