For any planet, its rotation period about their own axis is different. As pointed out by you, Earth takes 24 hours, venus rotates in 243 earth days so on so forth is completely governed by the physics and dynamics.
The rotational period of a planet essentially depends on the following factors.
!). Evolution of the planet. That is to say, The Initial conditions of the planet, ;including its rotation momentum, moment of inertia etc, when the planet was born either from the surface of sun or any celestail object which came near to the sun and due to gravity stared rotating about sun. We call them as Inititial conditions.
2). The materials(especially liquid) present on the surface of those objects). This is a time dependent phenomenon. this parameter largely affects the self rotation of planet and evolves over a period of time. It may remain constant or change that depends largely on the distribution of non uniform mass or density.
3). moons if any also affect the rotational period due to gravity.
4). the number of asteroids or meteors hitting the planet or Celestial objects.
5). Gravity due to other surrounding objects.
the thing is that the period of self revolution is largely affected by these parameters how ever, it will be very difficult for us to estimate the contribution of these parameters because, it requires complex mathematical analysis and information about the evolution of planets which we do not have.