Since 2017 at least; and IIRC years before that; that's just the earliest NIST publication on the subject I could find with a trivial Web search.

https://pages.nist.gov/800-63-3/sp800-63b.html

Verifiers SHOULD NOT impose other composition rules (e.g., requiring mixtures of different character types or prohibiting consecutively repeated characters) for memorized secrets. Verifiers SHOULD NOT require memorized secrets to be changed arbitrarily (e.g., periodically). However, verifiers SHALL force a change if there is evidence of compromise of the authenticator.

"Memorized secrets" means classic passwords, i.e. a one-factor authentication through a shared secret presumed to be known to only the right person.