There is a recent DRAFT document here:
Biocompatibility Select Updates for Intact Skin
From there you can download the document.
It applies only to intact skin contact, for less than 24hrs and from the list of polymers and fabrics given in the guidance.
I believe it is an update to an existing guidance.
The Draft seems to be saying that the FDA consider it is taking them too much time to review yet more 10993 data for materials that are well known and very low risk. It also goes with the desired outcome of a reduction in animal testing.
The big proviso of this is it is a DRAFT document only. So, you can use it to understand FDA thinking but not to support a regulatory submission.