There are many ways to detect pulses below the power supply rail.
You could connect a potential divider between the MCU's +V pin, the input and the signal you're detecting. With a +V of 5V, a divider ratio of five, will mean the MCU input will drop below 0V when the input falls below -20V. Don't worry if the MCU input goes slightly below 0V, the protection diodes will prevent any damage, providing the current is low enough.