Not that I'm aware of, yet.
This thread discussed this topic a while ago, and I don't believe that anything has changed since then, though I think there might be something coming in a future release to resolve this:
http://forum.cisco.com/eforum/servlet/NetProf?page=netprof&CommCmd=MB?cmd=display_location&location=.ee93703
The called party can always press the exit softkey to view the caller id, but this is not as convenient as having the display clear automatically. That is one of the disadvantages of using the idle url feature.