Animator Controller - Change State After Time

I have an extremely simple animation that simply fades in some text and then fades it out. The controller has 2 states, Hidden and Visible. The transitions are controlled by a parameter visible. To fade the text in, I simply set the visible parameter to true in my code. Now, I know I can fade the text out by setting visible to false in my code after a set time, but I have to imagine this functionality can be done within the Animator Controller itself.

Is there a way within the Animator Controller to trigger a transition after a set time, say 3 seconds?