Interesting and original story, it was meant to last for many seasons (after all, it takes many years to return from 70,000 light years away from earth). Very entertaining and well produced. After a few seasons, however,  it becomes a little slow regarding how long and how many more adventures will it take for Voyager to get home. The problem with well produced long series, you get to identify so much with the crew that when the series ends, it take some time to get adjusted back to reality.

The show really picked up after Seven of Nine joined the crew.