I believe that detergent would technically count as "soil" if used in the prewash cup, which would prompt the dishwasher to treat the first fill as a prewash so that it drains and refills before opening the main cup, preventing an overdose of detergent.
The 2013 Maytag I have is a slightly updated and improved Whirlpool tall-tub, and the soil sensor is right under the sump grate just out of view. The machine pauses a few times throughout the first water charge, and it is then that the sensor activates. If the water is dirty enough, it will do an active purge, simultaneously draining and filling for about 6-7 seconds, cleaning out the filter accumulator in the process. If the water is still dirty enough after 2 or 3 purges, it decides to fully drain and refill for the main wash. There are pauses throughout the main wash and rinses for the exact reason jerrod6 pointed out, which simply decide if the water is clear enough for shorter washes and rinses, and whether or not an extra rinse is needed.
I only use Normal wash for the most part, yet every cycle seems to be slightly different from what I've noticed. Sometimes it would prewash before the main wash, and sometimes you'd hear the detergent cup pop open after about 10 minutes of just the first water fill. When I had a box of Cascade and poured a little into the prewash cup just as a boost along with the tablet, the machine would always execute a water change before the main wash.