To find height $ h $ use formula:
$$ V = \dfrac{ r ^{ 2 } \cdot h \cdot \pi}{ 3 } $$After substituting $ V = 96 $ and $ r = 2 $ we have:
$$ 96 = \dfrac{ 2 ^{ 2 } \cdot h \cdot \pi}{ 3 } $$$$ 96 \cdot 3 = 2 ^{ 2 } \cdot h \cdot \pi $$$$ 288 = 4 \cdot h \cdot \pi $$$$ h = \dfrac{ 288 }{ 4 \, \pi} $$$$ h = 22.9183 $$