Is there any difference in processing times between AWS Kinesis Firehose and Streams?

Reading over the documentation of both offerings (Firehose and Streams), it sounds like Firehose is "near" real-time with a potential of 60 seconds delay between producing a message to emitting it, whereas Streams documentation makes no mentioning of this potential delay.

Does anyone have any real-world insight into any differences with regards to the message delivery times?

[Notes]

Link to Firehose FAQ mentioning the delay, based on buffer size for S3 events.