We use the Wide Field Camera 3 (WFC3) on the Hubble Space Telescope (HST) to reduce the uncertainty in the local value of the Hubble constant from 3.3% to 2.4%. The bulk of this improvement comes from new near-infrared (NIR) observations of Cepheid variables in 11 host galaxies of recent type Ia supernovae (SNe Ia), more than doubling the sample of reliable SNe Ia having a Cepheid-calibrated distance to a total of 19; these in turn leverage the magnitude-redshift relation based on ~300 SNe Ia at z< 0.15. All 19 hosts as well as the megamaser system NGC 4258 have been observed with WFC3 in the optical and NIR, thus nullifying cross-instrument zeropoint errors in the relative distance estimates from Cepheids. Other noteworthy improvements include a 33% reduction in the systematic uncertainty in the maser distance to NGC 4258, a larger sample of Cepheids in the Large Magellanic Cloud (LMC), a more robust distance to the LMC based on late-type detached eclipsing binaries (DEBs), HST observations of Cepheids in M31, and new HST-based trigonometric parallaxes for Milky Way (MW) Cepheids. We consider four geometric distance calibrations of Cepheids: (i) megamasers in NGC 4258, (ii) 8 DEBs in the LMC, (iii) 15 MW Cepheids with parallaxes measured with HST/FGS, HST/WFC3 spatial scanning and/or Hipparcos, and (iv) 2 DEBs in M31. The Hubble constant from each is 72.25 + or - 2.51, 72.04 + or - 2.67, 76.18 + or - 2.37, and 74.50 + or - 3.27 km s super(-1) Mpc super(-1), respectively. Our best estimate of H sub(0)= 73.24 + or - 1.74 km s super(-1) Mpc super(-1) combines the anchors NGC 4258, MW, and LMC, yielding a 2.4% determination (all quoted uncertainties include fully propagated statistical and systematic components). This value is 3.4sigma higher than 66.93 + or - 0.62 km s super(-1) Mpc super(-1) predicted by LambdaCDM with 3 neutrino flavors having a mass of 0.06 eV and the new Planck data, but the discrepancy reduces to 2.1sigma relative to the prediction of 69.3 + or - 0.7 km s super(-1) Mpc super(-1) based on the comparably precise combination of WMAP+ACT+SPT+BAO observations, suggesting that systematic uncertainties in CMB radiation measurements may play a role in the tension. If we take the conflict between Planck high-redshift measurements and our local determination of H sub(0) at face value, one plausible explanation could involve an additional source of dark radiation in the early universe in the range of DeltaN sub(eff)approximate 0.4-1. We anticipate further significant improvements in H sub(0) from upcoming parallax measurements of long-period MW Cepheids.