That is a good question.
The Nexus S seems to do a good job on not over-charging. Not that I've sat there a watched, but it appears the phone allows the battery to get to 100%, then switches back to battery power to let it run down to around 96-97% then brings it back up. I'm guessing it keeps this cycle going while it's plugged in.
Short answer: I don't think the negative affects of leaving a full battery on the charger is going to shorten the life by any noticeable amount. You should still get a couple years easy out of it. I wouldn't worry too much about it.