As others have said, satin and grosgrain bow ties should match satin and grosgrain trimmings, respectively. That's the simplest take on this rule, but it's about matching the lustre of the bow tie to the facings. If your bow tie is noticeably shinier than you lapels, or vice versa, one of the two will look inferior to the other. People will think that one part of your outfit has too much shine or not enough shine. The kind of bow tie you pair with your outfit is more about harmony than it is about matching.
Because this is less of a rule and more of an idea of balance, there are other options beyond satin and grosgrain. For instance, there are barrathea and basketweave bow ties that pair wonderfully with grosgrain lapels because they match the dull sheen. I find that velvet bow ties can go nicely with either. Shantung silk bow ties are nice too, and depending on their lustre you can pair with either satin or ribbed facings.