Where did you find that documentation, which is incorrect?
Here is the correct information, from Help at GlowScript.org:
axis The axis points from pos to the other end of the cylinder, default = vector(1,0,0). Setting the axis makes length equal to the magnitude of the axis.
length Length of axis and x component of size; default is 1. Setting the length makes the magnitude of the axis equal to the length.
radius The radius of the cylinder, default = 1
size Instead of specifying length and radius, you can set size=vector(length,height,width), which means that the cross section of the cylinder can be elliptical, which is not currently possible in classic VPython. Setting size makes the magnitude of axis be equal to the x component of the size (the length).