Firefly, on the other hand, was a failed series, having lasted only 1 season (and barely that at only 14 episodes).
Firefly wasn't a failed series. Fox never gave it a chance to fail or succeed. It's more accurate to say it was unproven--although its refusal to go away might tell you something about where it would have gone, had Fox taken it seriously.
Executives at Fox intentionally derailed the show. The theories about the motives behind that are numerous but it's most likely that someone was not happy with the expense (Firefly was a pricey production for its day) and intentionally derailed it. Fox refused to air the original pilot until the end of its run. They showed the episodes out of order, moved it around to different time slots erratically and occasionally pre-empted it for sports events.
And despite that, it gathered an enormous fan following, spawned numerous comics and a feature film.
Is that really a failure? Considering how many obstacles were thrown in its way, I'd say not.
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