The Earth is emitting about 47 terawatts of heat energy, producing a heat flow of 0.0921 W/m$^2$ due to radiogenic and primordial heat energy. The heat flow drives mantle convection which in turn drives plate movement. The radiogenic energy declines as the radioisotopes decay and the primordial energy is not replenished; presumably the sum can be approximated as roughly a power-law $\sim (t-t_0)^{-\alpha}$.
At what heat flow will mantle convection become too weak to maintain plate movement and Earth will shift to a stagnant lid mode?
I am interested in estimating the threshold heat flow needed to maintain plate tectonics on an Earthlike world. So we can ignore the sun going red giant in 5-6 Gyr. Another complicating factor is of course water "lubrication" which might change the threshold, presumably reducing it based on past subduction. But for my purposes (an astrobiological argument) a rough estimate is good enough if it can be supported.