2010 F150 occasionally won't start

I have a 2010 F150. It occasionally won't start. I turn the
key everything turns on in the car but the engine doesn't
start. Usually if I give it a few minutes and try again it starts
with no problem. The longest I had to wait to start it was
about 10 minutes, but it's usually closer to 2 minutes. I
don't receive any error codes on the dashboard. It happens
very infrequently, but I would prefer not to get stuck
somewhere because it won't start.