You can use the Item Log to see when an item was checked out.
Once you find the item you're looking for in your Item Log, click on its ID number to get to its Item Detail Page. You can see the time it was checked out here.
You can also use the "Status" filter at the top left of the Item Log to search for all items that have been checked out. Click on it and select "Checked Out." Scroll down until you find the item you want to see.