Do I need to keep my uninvested cash in my account for a certain length of time in order to earn interest?

No, interest is calculated on settled cash balance on a daily basis and is paid on a monthly basis. You may withdraw your balance at any time.

Additional Information

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How is margin interest calculated and charged in Interactive Brokers accounts?
Why does my account still reflect an interest accrual if I closed my currency balance?
When is interest received for lent securities in the Stock Yield Enhancement Program?
When is the 20% WHT applied to my account?