Drying time for wet insulation depends on type, ventilation, temperature, and humidity. If it doesn't dry within 2-3 days, it should be removed to prevent mold and wood decay.
Remove as much spray foam as possible with a scraper or blade, then use a rag dampened with mineral spirits or acetone to clean any remaining residue from the surface.
Use R-19 or R-21 kraft-faced fiberglass insulation for 2x6 walls to ensure it fits snugly without being too loose or too tightly packed.