They come on based on the ambient light sensor. If the phone considers the ambient light bright enough for you to easily see the buttons, they do not come on. If it's somewhat dark, they come on.
It appears that I was mistaken with my proximity sensor statement. My previous several Android phones behaved this way so I figured the Droid X would be the same. It looks like the Droid X just has a period of inactivity timer for shutting off the button backlights, it doesn't seem to be based on ambient lighting conditions.
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