I have a BS in Biomedical Engineering, so I can read & interpret different studies. One I read, which dealt in a lot more detail in optics than I have, I gathered that for most people, up to 50mW, you may experience some discomfort & afterimage, but it is unlikely to cause burning of the retinal cells. There are layers of pigmented cells in the rods/cones of your eye that slowly regenerate if the retina is healthy. Sometimes a bright light may cause some of these cells to lose some of their receptivity to stimuli, but as the pigment regenerates, your vision should return to normal.
It's important to note that some substances frequently consumed at shows increases the size of the pupil, which allows more light into the eye.
You may want to be concerned with the IR output, as it may be higher than the laser spec.
Long story short, take precautions to avoid situations where eye contact may occur. (reflective surfaces), but know that permanent damage is unlikely with a 20mW output.