We had this come up in my campaign, which is not Golarion-based.
I determined that elven infancy is very short, a 1 year old elf is equivalent to a 3 year old human. So they're out of the icky stage very quickly.
From there, development slows. Puberty begins around 30 (elves aren't sure about this - everyone is different, and they've stopped counting by now anyway) and lasts for around 30 years.
All the upheaval caused in humans by rapid growth in adolescence is stretched out over a much longer period of time. This allows a more sedate emotional and physical development, and is less traumatic to the elven 'teen'.
From there, they enter what would be analogous to human 'college years', the late teen, early adult years where they start to really become part of the community. This lasts until they get the urge to cast aside the folly of youth and become PCs...
It's a rough guide, and there's a lot of leeway with which a GM can play, but that's how it works for my campaign.