Yeah I don't completely understand that either. It's a bit confusing to me as well.
I don't want to derail the thread, so I'll try my best to keep this to the point....
Doze is actually pretty simple.. the programming of it is pretty complicated, but it's a simple concept. Google wanted to reduce the amount of power phones use, in particular when they are just sitting there on your desk, doing nothing... Doze is that feature. Think of Doze like those motion sensors you have in an office building. If someone is in there, walking around, they flick the lights on. But if they don't detect any motion, they start a timer.... if, after that timer expires, there's STILL no motion, it'll turn off the lights.
Now, apps and services need to 'wake' the phone up to do their thing, that is to say they have to bring the processing up from a 'deep sleep' state, which is a low power state where there aren't many functions that are active. Waking the phone up uses more power, of course, and the more a phone is kept awake, the more power it uses. There used to be few controls over when an app could wake the phone, and many apps abused the privilege (*cough*facebook*cough*) and batteries cried in pain the world over.
Now, once Doze is running, it limits when an app or function can wake the phone, forcing them to use short maintenance windows that it opens up periodically and allows everyone to go out and do their thing, then puts the phone back to sleep. The longer the phone is idle, the farther apart those maintenance windows are.
BUT.... here's where motion comes into play... If the phone detects 'significant motion', which is an actual term in Android. It means "any motion that could lead to a change in the user's location".... but this is as minor as you picking up the phone off a desk and looking at the screen. If the phone detects that motion, Doze starts to dial itself back. In 6.0, Doze was either on full blast or not at all. In 7.0, they added a 'light' Doze mode that wasn't as fussy with motion, had maintenance windows that were much closer together and enabled itself much sooner after you turned off the screen.
Now... Ambient Display is in the mix here... since it too uses significant motion. But Ambient Display doesn't directly wake the phone when it fires... here's the sequence of events:
1) Phone is asleep in full Doze
2) Phone is lifted, significant motion detector is triggered
3) Phone wakes
4) AD, having detected that the sig. motion detector was triggers, checks if the proximity detector is covered. If it is not covered, it lights up the screen and displays the clock and any current notifications
5) User puts phone back down, Ambient Display times out (usually 5 seconds)
6) Doze sees that the phone's significant motion detector is no longer triggered and begins its counter... 'light' Doze kicks in.... I think about 5 minutes after you turn off the screen, and full Doze takes up to an hour I think to fully engage.
So.... VERY long story short... Ambient Display, at least in how Google implemented it on the 6P, has little to no effect on battery life because it is not actually waking up the phone... the phone woke up by you picking it up off the desk.