As of the census of 2010, there were 20,434 people, 6,802 households, and 5,169 families residing in the town. The population density was 610.7 people per square mile (235.8/km2). There were 7,098 housing units at an average density of 236.3 per square mile (91.2/km2). The racial makeup of the town was 94.81% White, 1.7% African American, 0.05% Native American, 1.86% Asian, 0.01% Pacific Islander, 0.59% from other races, and 0.94% from two or more races. 2.96% of the population were Hispanic or Latino of any race.