This is a known limitation of CanvasRenderer
.
You can reduce these artifacts by increasing the tessellation of your geometry -- particularly the plane.
var floorGeometry = new THREE.PlaneGeometry( 1000, 1000, 10, 10 ); // will help
var cubeGeometry = new THREE.CubeGeometry( 50, 50, 50, 2, 2, 2 ); // may help