I gather if your CON is high enough, your HP regenerate. At what CON score and by how much? Where is this documented?

Dunno in IWD, but in BG1 a dwarven NPC (kagain) had 20 constitution and he regenerated (slowly, but he did).

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At 20 it starts very slowly. I got my Dwarven fighter at 20 Con and his HP increased about 1 every 30 seconds (real time). Regeneration gets better the higher the Con gets.

I don't think this is doucmented anywhere.

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It is. In D&D rules. At 20, it's 1 hp per turn. Higher con from there increases it further.