How many minutes later should tap B be opened in order for the amount of water from tap A to double that from tap B when the tank is full

There are two taps pouring water into an empty tank. Tap A can fill up the tank in 23 minutes while tap B does the same task in 16 minutes. If tap A is opened first, how many minutes later should tap B be opened in order for the amount of water from tap A to double that from tap B when the tank is full? Show your working.