Big difference from the quoted rating!
It's
VERY, VERY simple - potential output power is set by the available supply voltage, and the impedance of the speaker - power is simply voltage squared divided by impedance.
So for a 20V supply the maximum output swing can (theoretically) only be 20V P-P, which gives 7.07V RMS - that squared is 50V. Then simply divide that by the speaker impedance - 8 ohms 6.25W, 4 ohms 12.5W and 2 ohms 25W.
By bridging two amplifiers (which is built-in the chip) you can effectively double the voltage - this gives twice the power in twice the impedance - 'effectively' each amplifier feeds one half of the speaker - so one half of your 8 ohm speakers (4 ohm) receives 12.5W from one amplifier, the other half receives 12.5W from the other amplifier. Giving a total of 25W in 8 ohms, while each amplifier effectively thinks it's feeding 4 ohms.
So this gives 25W in 8 ohms, 50W in 4 ohms - and would give 100W in 2 ohms,
IF the amplifiers could feed 1 ohm loads - which it can't, and if it could, then it could provide 50W in 1 ohm for single amplifiers.
The total power in all cases is the same, you don't get more power by bridging - you just get more power in a
SINGLE HIGHER IMPEDANCE LOAD.
Bear in mind, this is imaginary theory, in practice you can't get 20V output from a 20V supply, so it will always be a fair amount less - nothing is 100% efficient. 'Generally' it's a reasonable idea to knock a couple of volts off the available output voltage, or measure it, if you want accurate results.