Actually depends on the strain, dank lover.
My preferences are the following:
I always wait until they have 6-8 internodes. For indicas, i prefer to let them reach 8-12 inch, for sativas, i prefer 20-24 inch. Indicas tend to double their height during flowering while sativas triple or even quadruple their height.
You might also want to know that 18/6 will make a plant strechier and taller while 24/0 will make it bushier and smaller.