Charge it every day. Get into the habit of always charging it.
If you are doing sleep monitoring, then charge it while you are getting read for bed, and then charge it again after you get up and are getting ready for your day.
Letting any Li-Ion battery totally drain, or drain very low is one of the fastest ways to destroy a Li-Ion battery. Charge it everyday.
The Series models (1, 2, 3, 4, 5, 6, 7 8, 9, 10) are rated for 18 hours. When it is brand new, it will go longer, but that extra overhead is there so that after a few years the Apple Watch will still last 18 hours.
The Ultra models are rated for longer, but you should still charge the Ultra everyday, except when you are running a marathon, or ultra-marathon, or camping, etc.... All the other times charge it everyday, so you have a well established habit that will not result in the battery draining too low.
I had a Series 4 that lasted me for 6 years. It was only in the last few months that I needed to turn on "Low Power Mode", because I took good care of the battery by charging it everyday. The only exceptions were very rare situations where I could not get to the charger (we are talking less than a handful of times).