This video explains the whole mission from the astronaut's point of view in about 15 minutes.

https://www.youtube.com/watch?v=Lr_zfpzGxQQ

He has lots of great videos including some very well produced content on rocket engine design, starship etc.

The short answer to your question is just over 19 hours until docking, and then I think another 2 hours after that until the hatch opens.