Apparently the universe originally (somehow) began as a point of infinite density and expanded outward from this point.
During this process, it would seem to need a defined size in order to be expanding at all. Even with the "blowing up a balloon" way of thinking of the universe, while the individual galaxies are growing further apart, the surface area is measurable (not infinite).
I am likely thinking of this incorrectly but I can't fit "infinite size" in with "expanding universe" in my head.
Unless these theories are incompatible, and to get infinite size you need the steady-state theory.