Despite only lasting one season, Firefly remains a sci-fi cult classic more than 20 years later. Its longevity is in no small part thanks to its characters, who strike a chord with audiences of every generation. From the renegade captain Mal Reynolds, to the graceful Inara Serra, to the kind but mysterious Shepherd Book, everyone has a story to tell, and a different perspective through which the audience can experience this sci-fi universe.