If the price wasn't so screwed up, I'd be inclined to let the kid decide once he's old enough.
As it stands, though, it costs next to nothing when done as a baby, while getting it done later in life when it isn't required costs a TON, is extremely painful (at an age that we'll remember that pain), and isn't covered by insurance.
Fix that last part, and I'll concede that it should wait until the person can decide himself. "Letting the kid decide" is de facto choosing the "no circumcision" option for him, since there's little chance he'd want that painful procedure done now when he could have had it done (cheaply) as an infant. Same with doing it for him, picking what his penis is gonna look like at a young age.
It sucks either way, and, I would say, fairly equally for those that are uncut but want to be cut, and those that are cut but would have preferred being uncut.
(I'd also say that religious indoctrination and other mental conditioning is far more damaging to a person than getting a procedure that most other boys have anyway)