There is a definite contrast to the way that SpaceX developes its systems and the way NASA/Congress-funded contrators work.
SpaceX is much more willing to have "failires" that they can learn from. So, they test-fly things much earlier in development processes. Government contractors are always competing for funding among politicians who will use any perceived "failure" as a reason to reducue funding. So, government contractors are focused on "avoiding failure" as a higher priority than "fastest progress".
Comparing the results, SpaceX is definitely faster to achieve successful systems. Comparing costs is harder to do. It is easy to calculate how much money a particular piece of equipment cost to actually build. But, the cost to designing and refining dominate the total cost of new systems. My personal impression is that SpaceX is more cost-effective, too.