If you are using PostgreSQL >= 9.6 there is an even easier solution. Let's suppose you want to delete all idle connections every 5 minutes, just run the following:
alter system set idle_in_transaction_session_timeout='5min';
In case you don't have access as superuser (example on Azure cloud), try:
SET SESSION idle_in_transaction_session_timeout = '5min';
But this latter will work only for the current session, that most likely is not what you want.
To disable the feature,
alter system set idle_in_transaction_session_timeout=0;
or
SET SESSION idle_in_transaction_session_timeout = 0;
(by the way, 0 is the default value).
If you use alter system, you must reload configuration to start the change and the change is persistent, you won't have to re-run the query anymore if, for example, you will restart the server.
To check the feature status:
show idle_in_transaction_session_timeout;