A cloud-based identity and access management service for securing user authentication and resource access
There is a good guide here that uses Vasil Michev's Powershell script to generate a CSV file of applications in the Azure Portal, and then goes through using a list of criteria for removing the apps (test apps, apps that haven't been granted permissions in years, etc).
You can also use this sample Powershell script to query App Registrations with expiring secrets and certificates, along with this Github solution that provides a dashboard of expired and expiring service principals.
There isn't really a single criteria for determining this, as apps can be used in different ways.