Fix aria-describedby attribute on Choice component to use id, not raw text

[jakubjanczyk]

Problem/Feature

This small PR fixes a11y issue on Choice component (used inside Checkbox). When helpText attribute is provided, previously it was set as aria-describedby attribute. However, this attribute should receive ID of an element. The change here is to assign ID (based on ID of Choice element) to Help Text div and use this id for aria-describedby attributes in input

Guidelines

Make sure the pull request:

• [ ] Follows the established folder/file structure
• [ ] Adds unit tests
• [ ] If it is a refactor or change to an existing component, have you verified it won't break existing Cypress tests or have you updated them?
• [ ] Did you verify some accessibility (a11y) basics?
• [ ] Adds/updates stories. Guidelines
• [ ] Adds/updates documentation (ie proptypes) Guidelines
• [ ] Has it been tested in Help Scout's supported browsers?
• [ ] Requests review from designer of the feature
• [ ] Add label (bug? feature?)

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