When an actor leaves to do other things they replace them by having the Doctor regenerate into a 'new form'. The 9th Doctor, for instance, didn't want to be typecast so he left after just one year/season. David Tennant has been the 10th Doctor for three seasons and a bunch of made for TV specials which totals to four years. I think it was just time. He's off working on different projects and last year he returned to the royal Shakespeare company to perform Hamlet with Patrick Stewart (Captain Picard from Star Trek the Next Gen).
Nowadays at least it happens when an actor chooses to leave the program for whatever reason. On the reboot so far we've had 9 for one year, 10 for four, and now Matt Smith for however long. I think originally it was supposed to stop at 10 regenerations but that bit of lore seems to have gone by the wayside.
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