Accessible contact form with clear labels

<!DOCTYPE html>
<html lang="en">
<head>
  <meta charset="utf-8">
  <meta name="viewport" content="width=device-width, initial-scale=1">
  <title>Contact us</title>
</head>
<body>
  <main>
    <h1>Contact us</h1>
    <p>We usually reply within two working days.</p>
    <form action="/contact" method="post">
      <fieldset>
        <legend>Your details</legend>
        <p>
          <label for="name">Name</label>
          <input id="name" name="name" type="text" autocomplete="name" required>
        </p>
        <p>
          <label for="email">Email</label>
          <input id="email" name="email" type="email" autocomplete="email" required
                 aria-describedby="email-hint">
          <small id="email-hint">Only used to reply to you.</small>
        </p>
      </fieldset>
      <p>
        <label for="message">Message</label><br>
        <textarea id="message" name="message" rows="4" minlength="10" required></textarea>
      </p>
      <button type="submit">Send message</button>
    </form>
  </main>
</body>
</html>