But much of it is quite beneficial to both parties. My cousin by marriage was a slave for a while; his master paid for his financial certification and gave him a small allowance, but he had to save up sufficient funds before he could buy his way to freedom. A girl I used to date used to be a slave, but she chose to remain with the family who owned her even after she bought her freedom, and remains an integral and happy member of the household. In fact, many successful members of our community, particularly business owners and managers, are slaves or former slaves!
Economically, slavery with proper laws and regulations is a way for families and moneyed individuals to improve the quality of their household or business, while giving an otherwise hopeless individual the chance to enter into Roman society. Here at the Tinkerers' Forum we often lament the fact that slave owners don't invest in their slaves, and the main reason for this is that they can't recoup their costs if the slave dies or escapes.
In Rome and its provinces there is a lot of slavery and it ranges across the spectrum. Quite a bit of it - particularly in the educated and enlightened centre of the Empire - is not remotely exploitative and is economically beneficial. An informed discussion should acknowledge this.