I won't get into the megapixel "debate" as far as how much is or is not necessary for any given application, but to directly answer your factual question, if you're gauging a 20% increase as a 20% increase in the height and a 20% increase in the width of the print, then correct, you cannot print 20% larger with a bump from 20mp to 24mp. As someone else mentioned, 20mp to 24mp is less than a 10% increase in the height and width. If you're interested, here's the math:
20mp = 5480 x 3653 pixels. At 300 pixels per inch print, that's an 18.27 x 12.18" print
24mp = 6000 x 4000 pixels. At 300 pixels per inch print, that's a 20 x 13.3" print.
So the print is a little over 9% larger in height and width dimensions.
To get 20% larger print, you'd need about 28.7 megapixels:
6560 x 4373 pixels. That would get you a 21.87 x 14.5" print which is 20% larger than the 20 megapixel print in height and width.
For visualization, here is a 100% crop of a bird. The left is 20mp, the right is 24mp. That's the different in "reach" you would see between a 20mp and a 24mp image. I posted both bird photos a single image so that both photos will scale together no matter what device you're looking at, like a phone, iPad, or laptop screen.
View attachment 188031
Don't get me wrong, I like to crop a lot. I appreciate more megapixels. I just wanted to point out that the difference between 20mp and 24mp is not as significant as it might seem.