Malaysians transiting less than 24 hour via Beijing Airport

We are a Malaysian couple transiting via Beijing for a flight from San Francisco. Arrive about 6pm and will be back at airport to check-in at 6am for an 8am flight. We plan to leave the airport to stay at a nearby hotel. The whole time will be less than 24 hours - do we need a visa? Or can we get a 24-hour transit G type at the airport?

Thank you.