Yes, 10% is what the ideal recommendation is approximately. However, if you're a growing company, you may go up a little more. If you're a solo operator and not trying to grow, you may spend less.
ALWAYS leave room in your advertising budget for client retention. This normally involves mailing postcards or newsletters to the people you've cleaned for in the past two years. I recommend to budget at LEAST 30% of your advertising budget for this. It's the best investment you can make. It builds your brand and invests in the most valuable asset in your biz....your clients.
These aren't concrete number, but suggestions:
$200,000 sales = $20,000 advertising budget.
Spend $6,000 of that budget on marketing to your current clients.