Does D3 v4 support canvas? Is it better over SVG?

Hi,

Afte a logn hiatus I am back to some web development. I was using D3 v3 for svg graphs and now I see that v4 is out. I see many changes and in the documenation it seems 'canvas' is also supported. Was it supported earlier too? Do you prefer canvas over SVG?

Thanks, Rao