Rails Sub-resources Routing error

_form.html.erb (Jokes)

<%= form_for [@person, @joke] do |f| %>
  <% if @joke.errors.any? %>
    <div id="error_explanation">
      <h2><%= pluralize(@joke.errors.count, "error") %> prohibited this joke from being saved:</h2>

      <ul>
      <% @joke.errors.full_messages.each do |message| %>
        <li><%= message %></li>
      <% end %>
      </ul>
    </div>
  <% end %>

  <div class="field">
    <%= f.label :body %><br>
    <%= f.text_area :body %>
  </div>
  <%= f.hidden_field :person_id %>
  
  <div class="actions">
    <%= f.submit %>
  </div>
<% end %>

jokes_controller.rb

class JokesController < ApplicationController
  before_action :set_joke, only: [:show, :edit, :update, :destroy]

  # GET /jokes
  # GET /jokes.json
  def index
    @jokes = Joke.all
  end

  # GET /jokes/1
  # GET /jokes/1.json
  def show
  end

  # GET /jokes/new
  def new
    @joke = Joke.new
  end

  # GET /jokes/1/edit
  def edit
  end

  # POST /jokes
  # POST /jokes.json
  def create
    @joke = Joke.new(joke_params)

    respond_to do |format|
      if @joke.save
        format.html { redirect_to @joke, notice: 'Joke was successfully created.' }
        format.json { render :show, status: :created, location: @joke }
      else
        format.html { render :new }
        format.json { render json: @joke.errors, status: :unprocessable_entity }
      end
    end
  end

  # PATCH/PUT /jokes/1
  # PATCH/PUT /jokes/1.json
  def update
    respond_to do |format|
      if @joke.update(joke_params)
        format.html { redirect_to @joke, notice: 'Joke was successfully updated.' }
        format.json { render :show, status: :ok, location: @joke }
      else
        format.html { render :edit }
        format.json { render json: @joke.errors, status: :unprocessable_entity }
      end
    end
  end

  # DELETE /jokes/1
  # DELETE /jokes/1.json
  def destroy
    @joke.destroy
    respond_to do |format|
      format.html { redirect_to jokes_url, notice: 'Joke was successfully destroyed.' }
      format.json { head :no_content }
    end
  end

  private
    # Use callbacks to share common setup or constraints between actions.
    def set_joke
      @joke = Joke.find(params[:id])
    end

    # Never trust parameters from the scary internet, only allow the white list through.
    def joke_params
      params.require(:joke).permit(:body, :person_id)
    end
end

routes.rb

Rails.application.routes.draw do

  resources :people do
    resources :jokes
  end
end