Yes, after you upgrade to the 2016 server, run the Hybrid and choose the 2016 server as the endpoint, which will remove the 2010 server as the endpoint.
Make sure you have a valid 3rd party cert on the 2016 server and the required ports are open to the 2016 server
Once that is all done and mailboxes moved, connectors updated etc, you can remove 2010.
https://learn.microsoft.com/en-us/exchange/hybrid-deployment-prerequisites
Gotchas: When you bring up the 2016 server, remember on-prem Outlook clients will start using it, so make sure there is a valid, trusted cert on it and the client URLs are set correctly.
Im not aware of any official documentation, Jaap is a trusted source :)