(more or less, some scoping things not encompassed by the above; this is also how pretty much every for loop in a C-syntax language works) The condition of a for loop is equivalent to a while loop's condition. So yes, length - 1 < length will be true on the first iteration, which is fine because the loop continues as long as that condition is true.
What the above approach takes advantage of is that when underflow eventually happens you'll have this condition:
MAXINT < length
Which will terminate it for all possible values of length.
That was my reaction - why should anyone think it might be the latter? Are there languages that do have such a syntax without explicit keywords ("do...until")?
The loop continues until i transitions from 0 to 0 minus 1. 0-1 in this case actually doesn't equal -1 since size_t is an unsigned type, instead it wraps around to be the largest possible positive integer instead. TLDR; yes as you speculate it terminates when the number underflows.
What the above approach takes advantage of is that when underflow eventually happens you'll have this condition:
Which will terminate it for all possible values of length.