As long as customer invoices have not been posted (completed), they can be deleted. However, as soon as these have been completed, it is only possible to cancel.
Procedure #
Switch to the Customer invoices menu and search for the desired invoice. If the invoice has already been completed, you must switch the search to “Advanced search”.

Then click on “Delete” on the screen and the system will automatically decide whether to delete or cancel.

Difference “Cancellation” vs. “Deletion” #
The difference is that the document is deleted when you delete it. The invoice number is not assigned again. Instead, it gets “lost”.
When canceling, the system creates a cancellation document. This balances the bill. The cancellation document contains exactly the same amounts, only reversed.