Yes and no: Title 16 for termination of parental rights, but no statute for emancipation. The courts would only support a petition if you showed an ability to support yourself by yourself, and a track record of having done so. Idaho says 18 is the age of majority. Most girls want to live on their own anytime after 15; this is normal, I think. Guys start thinking of it about 16-17, in my experience, but they are more realistic: it takes having a job and a good income.
There's no exact statute for emancipation laws for minors in Idaho. This is why reference has to be made to other statutes. It is clear that child support is required to be provided for minor children.