While discussing proving a language in $\Sigma_2$ from a client to a server with a friend we realized that while we know that such a language is provable in zero-knowledge, we didn't know whether it was provable in non-interactive zero-knowledge. This then led us to find this answer which states it is sufficient for a zero-knowledge proof to be constant-round to be transformable into a non-interactive one via Fiat-Shamir.
This then led me to confirm that in fact NP allows constant-round zero-knowledge proofs (PDF), which of course lead to the question in the title.
So:
Which language classes that include P allow constant-round zero-knowledge proofs - other than P and NP - and for which do we know that every zero-knowledge proof needs to have non-constant number of rounds?