Replacing Claris FD 2400 with R2000
The road compatibility chart does indeed say that the R2000 front derailleur not compatible with 2400 shifters.

Rear  derailleur actuation ratios are fairly well documented, but I've never found a good source for front derailleurs, I do know that you cannot assume that all double front derailleurs are compatible.

Your best best is just to replace with a 2400 series derailleur. Good news is that FD-2400 units are still available and and inexpensive.