Published does not mean finished. A controlled document is reviewed on a schedule and revised whenever the work it describes changes - and every earlier release stays exactly as it was, because someone read it and signed something on the strength of it.
Starting the next version needs create_new_document_version. Taking a document out of use needs withdraw_documents.
When a review comes due
Each document carries a review date. When it passes, the document says so on its own page - it does not go quiet and wait to be found during an audit.
A review that finds nothing to change is still a review - re-publish to record it.
A review that finds something raises the next version.
A document that no longer describes how the work is done is worse than no document.
Raising the next version
A new version starts as a draft copy of the published one. The published release stays live and readable the whole time you are working on its successor.
Open the published document and click New Version. It opens the editor on a fresh draft.
Make the change, and say what changed in the summary the next reader will see.
Send it through verification and approval like any other document.
At publication, choose Publish Minor or Publish Major - that is where the release number is decided.
Reading the history
The version history is the document's own record of itself: every release, who created it, when it went out, and what changed.
Withdrawing a document is not deleting it. It stops being current, and it stays readable - the record of what was in force, and when, is the point of the whole module.