Battery will be fine. below 20 some features don't work, like sentry.
The biggest risk taking it to 0 is killing the 12v battery.
From the manual:
"When left idle and unplugged, your
vehicle periodically uses energy from the
Battery for system tests and recharging the
12V battery when necessary."
"If you allow the Battery to discharge to
0%, other components may become damaged
or require replacement (for example, the 12V
battery)."
"Discharging the Battery to 0% may result in
damage to vehicle components. To protect
against a complete discharge, Model 3 enters
a low-power consumption mode when the
displayed charge level drops to approximately
0%. In this mode, the Battery stops supporting
the onboard electronics and auxiliary 12V
battery. Once this low-power consumption
mode is active, immediately plug in Model 3 to
prevent a jump-start and 12V battery
replacement.
Note: If the vehicle is unresponsive and will
not unlock, open, or charge, then the 12V
battery may have become discharged. In this
situation, contact Tesla."