Different media, different vulnerabilities and different lifetimes.
In 20 years, you may not be able to find a computer which will read your media. The solution is to change media more frequently. Make copies on whatever media is currently in vogue on the computer hardware that is available at that time.
A magnetic disk Hard Drive, if NOT bounced around and stored as you state, will last the longest. They are subject to loss of magnetization of the media over time, but you will do a fresh format before coping your data. Then put the new copy in archives and continue to use the original, making occasional overwrites to the archive copy, to keep the information current. Don't use the archive copy as a working hard drive until the original hard drive fails.
A "flash" drive, usually USB sticks, but also Solid State Drives (SSD) do not last as long and have both a lifetime maximum read/write cycles and a loss of data after a few years if/when they are not refreshed. The media does not retain it's data very well and must be periodically refreshed. Say a 5 to 8 year lifetime, with yearly or better refresh cycles.
Optical CD/DVD are stable if keep OUT OF DIRECT UV LIGHT. They will lose data because the plastic will be damaged by the UV light. I don't know a lifetime, even if they were kept in a temperature controlled black box. You might make it 10 years, but I can not say for sure. Plus you have to have the correct drives to read/write AND the software which recognizes that drive mechanism.
Overall, I think (opinion) that the best option is have spares of anything you use and keep your archive media in safe storage. Update that archive copy whenever you need to take a snapshot of your data AND THEN put the archive media back into storage. Have duplicates in archive.
A third option, which entails a LARGE trust factor, is to use online storage. This is only as safe as the business which is running the backup server... Which I don't think is really very safe. Not if you expect to need that data after some event which might kill the internet. The business might fail due to bad management too.
Final option: learn to carve stone. Slower, but probably will last longer.