His skin is getting darker because he is absorbing the heat from the lamp. It is nothing to worry about. But you should be worried about the size of his enclouser. A 20 gallon tank should be used as a "temporary" house for a hatchiling. Temporary because the ig will overgrow it soon. Talking about couple of months. So, you will need to buy/built him a new enclouser. Remember, these lizards can get huge, about 6 feet with proper care, so you want an enclouser that is at least 5X5X5. I prefer 6x6x6, but people usely think "OMG, I don´t have room in my house to put something that big!!!" I would tell these people not to get a Ig then. So, the larger the enclouser is, the happiest and healthiest your ig will be.
About his colors, igs tend to darker in color when they are basking, to absorb more heat. So you shouldn´t worry about it. And your temps are fine.
Well, the best tip I can give to you is: Start working on a new enclouser.
Any questions, please post. You are in the right place.
Take care,
Later,
Dan