You have the basics down. An egg does not have 24 hours worth of development 2 seconds after it is put in the incubator. It takes 24 hours before it has a day's worth of development. An easy way to remember it is that they should hatch on the day of the week you set them. If you set them on a Sunday, they should hatch on a Sunday, 21 full days after you set them.
If your incubator is running a little warm, they can hatch early, I've had them pipping when I went into lockdown at 18 days and hatch at 19 days. If you incubator is a little cool, they can hatch a couple of days late. There are a few other things that can affect the hatch time, but incubator temperature seems to be the most inportant.