you can't set an idle time specifically. The lifetime you mention does determine how often the SA's for Phase 1 and 2 are renegotiated, but keep in mind that these are only built if the routers see interesting traffic.
For example, if you set the lifetime for Phase 2 to 30 minutes, then in 30 minutes the SA's will be negotiated IF there is traffic to send. If there's no traffic, the old SA's will simply expire but new ones will not be built until either router sees interesting traffic again. Only then will the new SA's be built.