I think it even already disappears if you manually turn on the propellers to have them idle, since DJI Go considers that as a takeoff already. The idle is pretty much just there so that the props are activated and can respond adequately to the control input.
As soon as the propellers kick in when lowering the quad during idle, it's airborne and you can let go of it.
I said quickly, but of course I mean a gentle but somewhat swift downward movement is enough to let it takeoff. It's not hard to master as you'll notice clearly when it throttles up.