It looks fine, although I'd give it more light. As the plant grows it will eventually start to shed the oldest leaves and typically the first sign of that is drooping, leathery leaf. It will start to turn yellow and eventually fall off. This process may take a year or more. Don't worry about it provided there's no sign of disease or bugs and the rest of the plant is healthy (growing new leaves, roots, flowers).

Sometimes drooping leaves mean dehydration, but that typically is seen in more than just one leaf.

Your plant looks to be very dry and the media old. has it been reported in the past year? I do see two green roots on the back side of the plant but the root (?) to the front of your photo looks dry.

@Suzabanana thank you very much! That's really reassuring, I was wracking my brain trying to think of what could be wrong with it. It doesn't have that many leaves (I'm not sure how good of care the store I got it from was giving it), but that one was there when I got it, so I guess it would be pretty old.

@Sheila I usually water it from the bottom to ensure I don't accidentally rot the crown, so the roots on top do miss out on the water I guess. Should I be misting aerial roots? The one stretching towards the camera looks kind of withered along the length of it, but at the end it looks nice and green. I had heard they were for breathing rather than water, so I hadn't tried to give them anything.

As for repotting, I'm not entirely sure how long it's been in this one. At least a several months, as it was in this one when I got it. It could be time, although it doesn't have many roots (besides a couple aerial ones) poking out the sides.