Yes. It's perfectly fine. USB-PD Specification (Power Delivery) defines how the power adapter will "negotiate" with your MacBook to deliver power for charging. Since your Mac requires 91W, but the charger is only capable of 87W, it will charge at 87W. It will just do so slower.
In the past (MagSafe days), this was not the case. You couldn't use a charger with a lower wattage than what was required but you could use a higher wattage charger. The way it works is that the load (MacBook) draws power from the adapter - the adapter doesn't "push" current into the device. So, if the MacBook required 61W and you had a 90W charger it would only draw 61W from the 90W adapter.
With the new USB Power Delivery ports - things are negotiated. There are USB chips on both the device and the the charger that "talk" to each other about how much power is being requested and how much there is to be delivered. You can use a lower wattage charger; it will just be painstakingly slow to charge.