This topic is quite old, fees were higher in BTC (but lower in fiat) at these times. 0.01 BTC per kilobyte means million satoshis per kilobyte, so thousand satoshi per byte. The absolute minimum is one satoshi per byte, so you should divide your $20,000 by a thousand, and then you have $20.
OK, thanks for the correction. The linked Bitcoin Wiki article says the fee per KB is just 0.00001
now.