You still need to provide your listening levels (how loud in spl) for an additional amp to start to make sense. The Yamaha is likely quite fine at normal listening levels but like pogre said, its those elevated listening levels that will be a test (or by adding more speakers or other higher load on the amp). Try using an
spl calculator to approximate. The Yamaha manual indicates you can use 4ohm speakers for the fronts on page 11; while it doesn't show a spec for US models particularly, it does show a spec for UK/Europe models (or rules?) of 150w/ch at 4 ohm (@1khz, .9%THD); specs listed show dynamic power ratings for 8/6/4/2 ohm loads (130/170/195/240).
I'd get the gear, set it up and use it. Monitor the avr for signs of stress in your regular usage, either audible distortion or the self-protecting circuits coming on or the receiver running abnormally hot (and be sure in general to provide your avr with sufficient ventilation/cooling....stuffing it into a cubbyhole is not a good thing). Curious, why did you select this avr and set of speakers particularly?
Since you have pre-outs on the avr you have the option of substituting external amplification but use your stuff first before going there would be my suggestion. A $400 amp I'd use is the Crhoown XLS1502 (and do, altho it's gen 1 version, the 1500).