GeoJSON doesn't encode the fact that the boundary points are common between adjacent polygons. When you simplify those polygons, each one is handled separately, and you end up with "slivers" where the boundaries are misaligned:
https://www.bing.com/images/search?q=map+slivers+betwen+poly...
TopoJSON solves this by encoding each such boundary only once. So when you simplify the polygons, they are all done together, and the same simplification applies to adjacent polygons. No more slivers!