The short supply is because plutonium-238 is difficult to make in relatively pure form. It's found in spent power reactor fuel, but only in tiny concentrations and mixed with much larger quantities of other plutonium isotopes.
The United States started making Pu-238 in useful quantities again last year:
https://www.ornl.gov/news/pu-238-shipment-quantity-opens-tap...
https://www.energy.gov/ne/articles/us-department-energy-comp...
The process requires irradiating neptunium-237 (itself a small portion of spent nuclear fuel, requiring special chemical separation) in a government reactor.
It's also true that Pu-238 is dangerously radiotoxic if inhaled or ingested, but that's true of every material that provides a useful quantity of decay heat, including the americium-241 alternative used in this new mission.
The primary advantage of using Am-241 over Pu-238 is that it's easier to recover from spent power reactor fuel; there's more of it in spent fuel than Pu-238, and it's the most abundant isotope:
https://en.wikipedia.org/wiki/Isotopes_of_americium
Which means that Am-241 can be separated chemically from old fuel and does not require any additional nuclear treatment before use as a radioactive heat source.