How can SpaceX come up with innovative rocket designs for a fraction of what it costs NASA? And they can produce those designs faster. SpaceX soft landed two boosters into the ocean, it would have taken NASA 10 years and $20 billion dollars to replicate that development.
I spent years in Titusville to cover the end of the shuttle program and walking away my opinion was that NASA is a flock of risk-adverse mid-managers flying in formation with a rusting theme park endless replaying clips of their glory days. There are some really good people there, some of them doing amazing things, but they're handicapped by a management structure that's too fat and doesn't have an aggressive vision for the future. NASA depends too much on contractors that can't produce anything on budget and there's no penalty for not performing. Some of that is political, not all their fault.
If we're going to explore space then we have to face the fact that it's unlikely we're going to get there with NASA as it exists today. And we have to find a way to fund that exploration so it's more insulated from politics. Otherwise we're stuck on this rock until a giant comet, asteroid or neutron star wanders by or we get fried by our own sun or a gamma ray burst.