87 is what I run and as you state, mentioned in the owner's manual. I wouldn't run anything less but where I live, 87 octane is the lowest. I know some states have 5 or more grades of gas. If it pings on 87 later on then you need a tune-up, injectors cleaned or something along those lines.
My Miata states 92 but I run 87 in it frequently. If outside temps are above 85 degrees it will tend to ping a little on 87 so I'll run 92 in hotter weather. I don't see any performance differences in the 87 versus 92 in it.
Typically, higher octane is required for higher compression engines but advances in engine designs have done away with some of that theory. The M2 1.5 liter has a 10.0 to 1 ratio for a whopping 100hp. My 1.8 liter Miata has a 9.5 to 1 ratio for around 150hp.