When you say after tax money, you are referring to a Roth IRA. When you contribute to a Roth IRA, you don't take a deduction for contributing to an IRA and you when take the money out after age 59-1/2, the distribution is not taxable.
If you take money out prior to age 59-1/2, your distribution may be taxable and may be subject to a 10% early withdrawal penalty.
You are allowed to take out up to the amount you contributed, even if you are under 59-1/2. That is why you need to keep track of your IRA contributions.
In your hypothetical, you wouldn't be able to contribute $10,000 to an IRA all at once because you are limited to $6000 ($7000 if you are over 50) per year. You may be further limited due to high or very low earned income.
But say you had $10,000 you contributed over the course of two years, you withdraw $11,000. If you report your IRA basis as $10,000, only $1,000 would be taxable and subject to penalty, and that is only if you are under 59-1/2.
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