Everything you need to know about voiding any type of payments in ERP.
If you need to cancel a payment and it is before the cut-off time to do so (you will set this in Authorize.Net), you can process it as a void. Go to Accounts Receivable > Payment Gateway Transactions. 
Click Apply to see all transactions (most recent at the top). This screen doesn’t only show payments, it shows every activity related to a particular transaction. If there is a declined payment attempt followed by a successful one, you will see both attempts here. Find the transaction you would like to void and click on it via the Number column.
This will take you to the Receive Payment screen in View mode. You will see your transaction already selected below. Change modes to Edit.
Go to the Transaction tab. Click Void > Yes and you will see a “Successfully voided payment” alert. Do not forget to Save, then click Yes.
If you go back to Payment Gateway Transactions, you can see that your payment is now in Void status.
See related:
How do I process a credit card payment?
How do I process a credit card refund?