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In the System Configuration > Hub section, there is a setting called MinutesIdleTimeBeforeDetachingHubDatabase that is used by the Hub Cleanup task to determine the idle time for hub and vault databases. Any hub and vault databases that have been idle for longer than the minutes defined in this setting will be detached as the Hub cleanup task runs.
The Hub Cleanup task is not enabled by default; to enable it go to Admin> Maintenance > Hub Cleanup.