In theory, it should be ok.
In practice, it often isn't.
All of the main battery chemistries (Lithium ion in this case, but also NiMH and NiCD) prefer long, high-current charges. This keeps the electrodes nice and porous with a larger surface area. Having a battery that's constantly getting topped off and getting charged from 95-99% to 100% usually means slower, low-current charges (this is highly dependent on charger design and unfortunately great charging circuits are rare.)
Additionally, with Lithium chemistries, they're more reactive near a full charge and the battery ages faster, and leaving it on the charger means you're guaranteed to be in the worst possible charge state for long-term storage.
Your best bet if you don't use the radio often is to charge it, run it down to 50% or so and then pull out the battery pack.