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We usually stay near Chatelet les Halles which is a major hub for the metro and RER (regional train) so you can get anywhere in the city as well as from/to CDG easily.
Lots of hotels and AirBnB in the area to choose from.
As for things to do in a non-touristy way you could consider booking an escorted food and wine tour.
Tours by Locals and Viator are good ways to book such a thing.
A 23 hour layover is a decent amount of time.
Since most flights from North America arrive in the morning, I assume you are as well.
Catch the RER into Paris, if you’re staying at a hotel then they will have baggage storage available if you’re too early for check-in.
Go wander the neighborhoods and have lunch, or take your tour, grab dinner a bit later than normal (maybe at a restaurant recommended by your tour guide from earlier).
Also try to book one of the string quartet/quintet concerts at Sainte Chappelle and have a late dinner afterward.