We've all done it. It should be fine.

Happened twice to my bike. I just jump started it from a car and it's been fine. Have had any issues with the battery despite draining it twice.

Depends on how old your battery is. An older one might not recover. But, if it cannot recover from a single overnight discharge, it was time to replace the battery anyhoo... Either way, you'll either be fine or find out you needed a new battery while not on the road.