OK,but why do this?? The gain will be so small why bother? I assume you would take your +/-10v sig and convert it to -- +/-10v differential so go from 0-10v to 0-20v sig. this is a voltage gain of 2 or only a small additional level of protection against noise.
I think you should ask yourself 'where does the noise immunity come from with a differential input?' Answer above: any noise added to the signal is added in the wires BETWEEN the source and the diff input amp; the differential amp does not care if it is equal and opposite on both wires or one goes +/-10v and the other is at 0 volts! It will reject any COMMON noise picked up on BOTH wires anyway! so the 'bombproof-ness' of it is that, not the fact that they are equal and opposite. that only potentially increases the voltage by 2, giving you a bigger signal compared to the potential noise
That said, you better relook at the differential input specs before you do this; this is not video equipment where larger signals may be common, this is drives stuff: all drives I have ever seen have 10v peak to peak max input range! We even typically kept the input voltage to about 8v max for TWO reasons: 1) to give us room to goose it higher if need be in a heavy cut or accel, & 2) to keep away from the op amps unlinear area close to its supply rail - on our +/-12v supply op amps in our drives we said the input differential sig became a tad unlinear at about 9.7v max.
No drive diff input I ever saw "halved" the input sig either since it was a 10v max sig and the input was typically 0 to +10 or 0 to -10v in; this gave 10v sig to the drive innards....
So at the end of the day, you probably will NOT gain a factor of 2 more in voltage as you would have to REDUCE the +/-10v sig to +/-5v to make it pure differential. You would gain nothing.
If you still insist on - in my opinion - wasting your time and resources on making a differential output op amp stage, here is a device:
Circuit Note | CN0032 | Converting a Single-Ended Signal with the AD7982 Differential PulSAR ADC | Analog Devices
Attached is a pix showing how to use the present +/-10v sig so you gain all the benefit of the differential input.