No particular noise is "typical." No noise at all is atypical. 20mV is low enough that it could be radiated noise for nearby equipment. I doubt you card would have that noise in the lab situation where they test for noise. Which essentially means something about you estup is responsible for the noise.
Since the frequency is a multiple of 60Hz it is probably environmental noise, radiated ot picked up off of the ground. Really and truly, 20mV is not a lot. I have acquisitions where I must be very careful in grounding ALL the associated equipment or I see huge blurts of noise from a motor drive - on the order of 3 Volts until I drove an eight foot gound rod through the floor to get an isolated safety ground for my DAQ PC and scope. I still see the noise, but it is now lower than 0.8V so I don't get false triggering of TTL circuitry from it. This is AI not AO like you are discussing.
If you check the specification of your card there is a table on "System noise." I am not saavy enough to understand it, but I see that the noise is dependant on the output range. I suspect that the range is not a user selectable item, but in theory if you see more noise than the spec sheet says, then it is part of your setup not the card.
Here is part you really don't want to hear: Solving a noise problem by text messaging is like solving a mental illness over the phone, maybe worse. I can tell you all sorts of practical, common sense things that are not specifically helpful. I can tell you from personal experience that you really need to follow all the good practices you can, if you really want to have as high a SN ratio as possible.
Can you set up a single point ground? Can you eliminate all ground loops (shielding only grounded on one end.) I had a stray strand of shielding that brushed against a case that made terrible noise once.
There is a good book called ,"Grounding and Shielding Techniques," by Ralph Morrison from Wiley Inter-Science. There are papers on this in in the tech resources of ni.com. In particular the paper on "Field wiring" is good. Keithley has a good book they will send you for free on low level measurements that is very informative. You have to call them on the phone to get it.