You have to make that it's not too high. Work backwards from the receiver's specifications and see what cable the system can afford. You need to know the minimum operating voltage of the receiver, as well as its maximum current.
The AA batteries are probably not a good idea. Rechargeables like NiMH have a low 1.2 V rating, so you don't want to get that even lower. Alkaline cell energy is around a 1000 times more expensive than electricity from the wall. Use a 3 V wall wart instead, and you won't have to worry about sagging voltage.
Say the receiver's minimum operating voltage is 2.7 V, and that it uses maximum 100 mA. Then this 100 mA may drop maximum 300 mV (provided the wall wart effectively outputs 3.0 V). Ohm's Law says a maximum wire resistance of 3 \$\Omega\$ is allowed.
Copper has a resistivity of 16.8 m\$\Omega\$ \$\cdot\$ mm\$^2\$ / m, and we have 20 m to and fro, that's 336 m\$\Omega\$ \$\cdot\$ mm\$^2\$, then a cross section of (336 m\$\Omega\$ / 3 \$\Omega\$) \$\cdot\$ mm\$^2\$ = 0.112 mm\$^2\$ is the minimum required. That's bit less than 0.4 mm diameter. That's all non-USAers need to know. USAmericans still have to lookup in a table what AWG value this is, or calculate it (involves a couple of logarithms).
Everything in one formula:
\$ d = 2 \sqrt{\dfrac{2 L \cdot I \cdot 16.8 m\Omega \text{ } mm^2 / m}{\pi \Delta V}} \$
where
\$ d \$ = minimum wire diameter
\$ L \$ = cable length
\$ I \$ = maximum current
\$ \Delta V \$ = maximum allowed voltage drop.