As I understand it, Starfleet captains were discouraged from going on away missions. In Star Trek Nemesis, Data cites a specific Starfleet regulation (Section 12, Paragraph 4) on the topic before being cut off by Picard.
With that in mind, why does Captain Janeway go on so many away missions and why does Chakotay never try to stop her?
I realize there are occasions where the captain overrides this regulation and goes anyway but one would think these instances would be few and far between like they are in TNG. Janeway seems to jump at the opportunity to get off Voyager every other episode.
Plus, the Delta Quadrant is completely unknown and therefore the potential for unforeseen danger is significantly higher than what Picard saw in TNG.