Why does the debugger keep disconnecting every 2-5 minutes?

I'm using STM32CubeIDE 1.1.0 with a STEVAL-SPIN3204 board connected via the USB port and onboard ST-Link. About 2-5 minutes after I start a debug session The Console prints "Target is not responding, retrying..." 10 times and then prints "Debugger connection lost.

Shutting down...". At that point I can restart the debugger again sucessfully. Until the debugger starts printing Target is not responding, the debugger works normally. I can single step, run, stop on breakpoints, view and modify variables etc.

This problem occurs even if I merely initiate a debug session and never touch the keyboard so it seems rather unlikely it has anything to do with the program being debugged. And FWIW I did confirm that the watchdog is disabled by the fuse settings.