It's a rather short one - so there's more that can be said! - but I answered a similar question a while back:

When did it become the social norm/standard for women to shave their legs completely?

If I may piggyback on this with a related question, why did it take so long for depictions of women in art (curiously “modern” in Renaissance and older art) to match reality? Or, perhaps, have I stumbled upon something related to the answer to OP’s question, in that fashion has caught up with classical art?

edited to clarify: What I mean is that, e.g. in Renaissance artwork, women are depicted with very little body hair. Probably the most clear example in my mind is The Birth of Venus, which depicts a lady with very minimal body hair. Of course, this applies to the men as well, but this more specifically focuses on women.

Here is another answer, from u/sunagainstgold, about examples from medieval western Europe.