If you do intend to wash them, try to use plain water and, if possible, soft water if you're in an area with hard water (meaning use ionised or distilled), no chemicals or cleaning agents, as that may harm the surface of the panel. I guess as a preference, do so either first thing in the morning or at dusk, so as not to interfere too much with their operation.
My panels have been up for over 3 years, and I've never washed them ever, and doubt I ever will. Rain and snow do that.
The only time I've ever considered it was when we had a dust storm full of sand from some far-off country, and it was dry for weeks afterwards.
The level of loss from my panels is unquantifiable compared to when installed, and I see no material change in similar months of the year compared to previous years; noting some level of delta will naturally occur due to solar variance across the seasons.
If that changes as the years progress, I may revisit this.