I've seen this explained using both valence bond and molecular orbital theories. I tend to favor MO for just about everything but in this case they both essentially boil down to the relative energy gaps between 2s-2p (oxygen) and 3s-3p (sulfur), the latter of which is larger. Admittedly the VB approach is far easier to conceptualize, and explain here: because the 3s-3p energy gap is large, hybridization of the orbitals costs too much energy, so bonding occurs primarily between the hydrogens and "pure" sulfur p-orbitals, which have 90 degree geometric separation. The MO approach is functionally similar, but you have to do a symmetry treatment on the sulfur atomic orbitals and linear combination of hydrogen atomic orbitals, which requires some group theory knowledge.