We do not have a definitive answer at this point, but the COVID-19 virus may behave like other coronaviruses, which linger on surfaces for a few hours, or up to several days.
NIH says preliminary studies have found coronavirus in aerosols for up to 3 hours, up to 4 hours on copper, up to 24 hours on cardboard and up to 2–3 days on plastic and stainless steel.
A recent study that has yet to be peer-reviewed found evidence that infected patients without symptoms can spread coronavirus by breathing. Contaminated airborne particles were found within 2 meters (6 feet) of an infected person in an indoor environment.
The WHO recommends disinfecting any surfaces you think might be contaminated.