Why not hook things up and see? Power isn't linear for audio, it's logarithmic. To double the sound output you need ten times the power. So, you may find that the output from the Denon is perfectly acceptable, and if it isn't than you may want new speakers which can deliver more and handle a great deal more power properly, then go to a amp with a lot more power behind it.
If your intent is to drive the speakers for hours, at high volume, then you may get higher reliability from a dedicated amplifier, and certainly I love them, but I would try out what you have first.
The amplifier should not improve sound quality if you are happy with the volume levels you are currently listening at.