Registering it twice causes a new instance for each type to be created, one for the interface and once for the concrete type.
If you want the same singleton instance you would first register an autowired instance and then just register against the other type resolving the same instance, e.g:
container.RegisterAutoWiredAs<AuthenticationManager, IAuthenticationManager>();
and either
container.Register(c => (AuthenticationManager)c.Resolve<IAuthenticationManager>());
or
var instance = (AuthenticationManager)container.Resolve<IAuthenticationManager>();
container.Register(instance);