Staying with a spouse that cheated, and it actually worked out

So my husband and I got married at 18, and now we are both 22, married for 4 years. In those four years, our marriage was really bad. We were both selfish, didn’t know how to communicate, and were just very immature. He came to me the other day crying and admitted he had cheated before. And he said he knows there isn’t an excuse. He said he wanted to come clean and completely restart. He said after our daughter was born his perspective on life had changed and he wanted to be the man me and my daughter deserved. Has anyone actually stayed with a spouse that cheated and they never cheated again? Or is it 100% once a cheater always a cheater.