To calculate it properly, you need your maximum worst case amp load and the length of the run both ways (even though there is a separate wire for each leg).
Then you can factor in your maximum allowable voltage drop, i.w., 3% for critical items (nav lights, VHF radio, etc.) or 10% for house items (accessory power socket, livewell, etc.).
Most voltage drop charts, once you know your total amp load and total length of the run, gives you both the 3% and 10% values.
Here's link to a free wire/ampacity download for your own use: https://www.midcoast.com/~aft/wiresz32.html