halacha theory - Is there a Statute of Limitations in Jewish Law?

From Wikipedia:

A statute of limitations is an enactment in a common law legal system that sets the maximum time after an event that legal proceedings based on that event may be initiated. In civil law systems, similar provisions are typically part of the civil code or criminal code and are often known collectively as periods of prescription.

So is there such a concept in Jewish Law? Will Beis Din ever tell a claimant that s/he waited too long to begin legal proceedings?

Or can the fact that a claimant waited too long (and didn't bother pursuing justice) ever be used as proof to the claimant's detriment?