We have DOORS at work. Here's my opinion based on project size:
Small: e.g. couple of web pages of forms input and produces one or two reports. Don't use DOORS because it's too heavyweight for a project that size.
Medium: e.g. too big for someone to understand the whole system in their head. Use DOORS.
Large: e.g. multiple teams working in parallel on multiple subsystems. Use DOORS.
Very large: e.g. multiple requirements baselines which can all change in parallel. Do not use DOORS here, as it will give you hell managing the different requirements baselines.
Also, consider what your customer needs and if they'll pay for additional process. If your customer needs you to deliver things like test procedures which trace to requirements, then a DOORS like tool is a good thing to use. If they just want working software, then you might want to make DOORS optional for the team.
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We have DOORS at work. Here's my opinion based on project size: Small: e.g. couple of web pages of forms input and produces one or two reports. Don't use DOORS because it's too heavyweight for a project that size. Medium: e.g. too big for someone to understand the whole system in their head. Use DOORS. Large: e.g. multiple teams working in parallel on multiple subsystems. Use DOORS. Very large: e.g. multiple requirements baselines which can all change in parallel. Do not use DOORS here, as it will give you hell managing the different requirements baselines. Also, consider what your customer needs and if they'll pay for additional process. If your customer needs you to deliver things like test procedures which trace to requirements, then a DOORS like tool is a good thing to use. If they just want working software, then you might want to make DOORS optional for the team.