From the official F1 site under the F1 penalties section.

Time penalties Perhaps the most commonly used penalty, time penalties are issued as either five or 10 seconds. A driver serves this when taking a pit stop, with the car sitting stationary in the pit box for the given amount of time before the mechanics are then allowed to start working on the car. If the mechanics touch the car before the time penalty has been served, another penalty will be issued. Should a driver not pit again after receiving a time penalty, the amount of time will be added on to their finishing time which could potentially drop them down the order. A recent example of this happening was the 2024 United States Grand Prix, where Lando Norris received a five-second penalty for leaving the track and gaining an advantage during the latter stages of the race, resulting in him dropping from third to fourth in the final classification.

https://www.formula1.com/en/latest/article/the-beginners-guide-to-f1-penalties.5lne3FfE8IXpGOagsmfq90