When is $Aut\left(\mathbb{Z}_n\right)$ cyclic?

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When is $Aut\left(\mathbb{Z}_n\right)$ cyclic?

Where $Aut \left( G \right)$ is the group of "Automorphisms of the group $G$" under composition.

I know that $Aut\left(\mathbb{Z}_n\right) \approx U\left(n\right)$ but I don't know when $U\left(n\right)$ is cyclic.