Generally speaking, no. Frequent charging after shallow discharges is okay for lithium chemistries .. and in fact can be gentler for the battery than frequent deep discharges.
It's a simplification, but rated cycle life on the batteries is typically listed at some number of charge cycles to 80% original capacity. For the Empulse, this rating is 1500 100% cycles.
This means you could charge the bike 1500 times 0-100%, 3000 times 50-100% (or 25%-75%), or 15000 times 90-100%.
In practice, cell age, heating and storage SOC seem to degrade battery capacity more quickly than cycle count. The Phoenix Nisan LEAFs are a good example.