You need to pass a Func which returns the value to be stored in the dictionary in case of an update. I guess in your case (since you don’t distinguish between add and update) this would be:
var sessionId = a.Session.SessionID.ToString();
userDic.AddOrUpdate(
authUser.UserId,
sessionId,
(key, oldValue) => sessionId);
I.e. the Func always returns the sessionId, so that both Add and Update set the same value.
BTW: there is a sample on the MSDN page.