If you’ve just began resistance training, you should be fine with 24h rest between lifting sessions.
As soon as your gains slow down significantly or stop completely, and/or you don’t feel recovered (e.g. lack of energy/motivation, strong DOMS etc), you should give your body more time to recover.
As a beginner, it’s almost impossible to really push yourself to the physical limits, because you are not used to the movements yet, the more advanced you become, you can/will get closer to your true physical barrier, thus making the workout much more intense but also having need for longer rest periods.
btw, if you really feel like it, you could make one “push” day (chest, triceps, front delts etc) and one “pull” day (lats, biceps etc) thus allowing for 48h+ rest and still working upper body frequently