If the Early Access price was lower I would agree and when it became a full release to then jump to your target price of $19.99 then sure make an Early Access here
Yeah, I think 19,99$ might be a bit too much, if the audience isn't completely sure where your game is going. Some might be scared to put hopes and money in a game that then might disappoint for different reasons.
I personally would be waiting for the full release or at least for around half a year of constant game progress before paying such a price for a game. Got disappointed several times with games that took change content direction mid-development.