I first watched it years ago, years after it started, and was honestly pleasantly surprised.
I expected "Family Guy" but got a slightly more down to earth Star Trek. It can be a bit wishy-washy with its political/moral messaging at times but most of the time it felt like it was trying to be honest to the characters.
I liked it enough to watch it a few times over the years and i would recommend it if you dug ST:TNG.