The half-life of americium-241 is about 432 years, that’s a huge advantage. The Voyager probes at half power and because of exponential decay it’s not easy to simply start with more Pu-238 to compensate. You need to deal with dumping exponentially more waste heat at the beginning when you want to extend their lifespan. Not everyone needs to last that long, but Opportunity died 15 years after launch plenty of time for a significant reduction in power output.
When the cost per pound to orbit was higher it was an obvious choice, but these days it’s more questionable.