It's always suggested to drain the battery down to 1-2% then recharging to 100 without any interruption and doing this for at least 5 cycles.
I don't really see it "hurting" it but in the long run it may not entirely last as long as it would have.
However for me, I've always done what you did for all batteries except for my current extended battery and I never had what you could call bad battery life.
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