Technically it DOES "hurt" the battery. It is just that the 2170's are very robust and the amount of degradation is minimal BUT it is increased over a shorter cycle. Also keep in mind that Tesla warranty is for a 20% or more reduction in capacity. If you can keep more of that 20% longer by not charging to 100% very often then that is plus. It is just simple lit-ion science:
Charging to capacity or completely depleting puts the most stress on lit-ion's
Discharging fast or charging fast put more stress that slower
Ideal would be to slowly discharge to about 50% and then slowly recharge to about 70%
Of course this is impractical and we need to drive and enjoy.
Here is one of the best recourses for information on lit-ion (and all types of batteries).
Types of Lithium-ion Batteries – Battery University