Writing is an art, not a science. There is no special formula regarding how long a paragraph should be. It is based on what you are trying to convey.
In general, high impact scenes should have shorter paragraphs to keep the pacing brisk and the intensity high.
Background, exposition, or description text should be longer to give a complete picture of the scene or idea being presented.
If you "switch gears" with an idea, you should go to a new paragraph. Words like However, but, yet, etc are often good cues that you may want to move to a new paragraph.
I will say that, as an editor, breaking up excessively long paragraphs is one of the most frequent things I have to do. At this point, a lot of it is instinctive. But some of it is aesthetic. If I have a page with a huge block of text, that can be intimidating to a reader and I know I need to figure out a way to break it up.