What are you required to deliver, in what format, and how often?
I haven't used either of these for large scale documentation. I used to work with Adobe Indesign years ago but quickly realized PDFs are the worst and painful to maintain, especially in a quicker release cycle.
At a glance, I'd prefer Frame Maker of these two options. But I'll always advocate for open source tools that follow docs-as-code methodology (like Hugo). In this way, your documentation lives in github and locally on your team's machines. Versioning is well controlled and peer reviews are baked into the toolchain. It takes seconds to push new versions. Styling is separated from content, so authors only have to think about markdown syntax and it's 99% reliable, correct.