Azure Mobile Service's tiers are based off of API usage. Any call into your Mobile Service (insert, update, delete, read, login, custom API) is considered an API call. So you'd need to have an idea of how many API calls you would make in a month to have an idea of how much using Mobile Services would cost you. As an example, let's say each of your 20 users makes 10,000 API calls a day (I would guess that's a bit extreme), then 20 users * 10,000 API calls * 30 days in a month = 6,000,000 API calls. For that, you would need to have either 4 Basic Units or 1 Standard Unit. Units are purchased when you need additional API calls (with each Basic unit being 1.5M and each standard being 15M per month).
Mobile Services has a free tier (500k API calls across the subscription (not an individual service)) so you can try it out free of charge. Additionally, if you haven't used it already, you get a free 20 mb database that you can use as the datastore for your Mobile Service. It's not advised to stay in Free mode once your app is in production but you should have no issues trying it out and then scaling up (scaling is super simple from the Scaling tab in your Mobile Service) once you're ready.