the underlying compound interest formula that you want to use here is
A = P(1 + r/n)^nt
if you solve that for the value of the rate ("r") it becomes
r = n((A/P)^(1/nt) - 1)
for this scenario that means taking
r = 1((2000/1000)^(1/10) - 1))
r = 2^(1/10) - 1
r = 1.07177 - 1
r = 0.07177
meaning that the required compound interest rate in this scenario is 7.18%