I love The Expanse it's a great story and decent acting, but Firefly had more entertainment value and appeals to a larger audience.

It's well known that Fox really pounded on Whedon to make the show lighter and funnier.

The first episode has minimal camp, as does the film. The other episodes vary. You have to admit, compared to the camp of the 70s and 80s, Whedon's camp is quite nice.