When do you take out infant insert?

I have the Graco 4-in-1 convertible car seat and I was wondering when you are supposed to take out that infant insert? I haven’t found a straight answer anywhere, not even in the manual. My baby is 13 lbs 6 oz and 24 inches tall (yes she’s super tall and in the 95th percentile!) She also has excellent head control! Any advice?