By $\,2\nmid p,q,\,$ mod $8\!:\ p^2,q^2\! ={\rm odd}^2\equiv \{\pm1,\pm3\}^2\equiv 1.\,$ By $\,3\nmid p,q,\ {\rm mod}\ 3\!:\ p^2,q^2\equiv\{\pm1\}^2\equiv 1.$
Thus $\,p^2-q^2\equiv 1-1\equiv 0,\,$ mod $8,\,$ and $ $ mod $3,\,$ so $\,p^2-q^2$ is divisible by $\,{\rm lcm}(8,3)=24.$
Remark $\ $ The proof shows that $\,n^2\equiv 1\pmod{24}\,$ if $\,n$ is coprime to $24\ (\!\!\iff\!$ coprime to $2,3).\,$ This is a special case of Carmichael's (Lambda) Theorem, which is a generalization of Fermat's Little Theorem and Euler's (phi) Theorem.