"Christans have always had the idea of sexual privacy, something they inherited from the Jews. We have plenty of writing from early Christians that make it clear that they objected to how open the Romans were."

I would like to add more to this. With the fall of Roman Empire, the early Dark and Middle Ages changed perspectives on nudity because of paganism. Most ruins and statues were seen as symbols of idolatry. This view slowly changed with the Renaissance period, as the Catholic Church embraced perspective that man is the image of God. Many famous sculptures and paintings were made in this period.

These artistic works then became censored because of the Council of Trent. The Catholic Church had to implement changes because of Protestant Reformation. This is why many classical works of art have fig leaves. Michelangelo had to come back to his Sistine Chapel painting to censor it, for example.