Ok, so the right configuration is following,I should simply give string values instead of parsed guid:
Map<ImplementationDocument>(m => m.Requires("DocumentType_ID").HasValue("A83EC21A-5661-462E-9539-F889F3BA2B5B")).
Map<WarrantyDocument>(m => m.Requires("DocumentType_ID").HasValue("E4A8F66F-E82D-E011-9483-00151710A8AC")).
Map<InvoiceDocument>(m => m.Requires("DocumentType_ID").HasValue("821BC287-E82D-E011-9483-00151710A8AC"));