As batteries have a self discharge rate it’s very easy to verify what Eagle mentioned. After discharging the batteries to storage level, note the individual cell voltages. Every two weeks thereafter check the individual cell voltages again to see if they remain the same or decrease. If you see a decrease, and you eventually will, you will have established the batteries will not maintain a stable charge state indefinitely and over time they will self discharge to a level that will damage the cells. Should you arrive at that conclusion your logical course of action would be to periodically cycle your batteries to assist long term cell health. As battery quality varies considerably you might find different brands have different discharge rates, which alters the battery cycling time frame a little
While your waiting to perform the periodic voltage checks you’ll have time to visit a few web sites that provide battery chemistry specific information for people to gain knowledge from.
Eagle is correct with the only real question being the time between cycles but the above provides a means to see and prove it for yourself which removes any doubt. A lipo is not a charge and forget battery, something a few, including myself, learned the hard and expensive way.