It's not that the parent-child relationship is "denormalized", but rather the children are "merged" into the parent.
One thing to consider is the type of relationship you have. UML provides descriptions for different kinds of relationships - see Difference between association, aggregation and composition .
In general (exceptions exist), I think association and aggregation relationships will be between separate documents, whereas composition relationships will be "merged" into a single document.
Concrete example - a person knows many persons (association), a person can own many vehicles (aggregation, a vehicle only has one owner, but its own lifecycle), and a person can have many names (composition). I would create person and vehicle documents, but not name documents - I would store all the names on the person document.
To me, that's a big advantage of a document database over a relational database. In the latter, I'm forced to create separate tables no matter what kind of relationship I have. In a document database, I can choose what makes the most sense and fits my application's needs. Very often, my physical document model much more closely resembles my application's conceptual model.