Put the hosts on the domain. Otherwise management of them is more painful tham it needs to be. Its also a requirement if you ever want to cluster the two hosts.
However, since all your domain controllers are on there, if hyperv breaks badly you may have trouble logging in to fix it, if your cached credentials aren't valid.
Simple solution is to also have a local administrator account on each host - which you only use if your normal domain accounts can't log in. From that account you can fix hyperv and start the domain controller VMs if needed.
One other word of advice if all your domain controllers are virtual - do some research on how time syncing works. By default one of your domain controllers will be the time source for the entire domain. But virtual machines are terrible at keeping time. There are a few ways you can fix that, so do some research into it before everyobe complains all the computer clocks are 20 minutes slow.