It was also incredibly on budget. I think Sagan says in the book it cost the individual American taxpayers in the single digit dollars.
NASA says the voyager mission cost 865 million dollars from the start in 1972 to Neptune encounter in 1989, and currently runs at 7 mllion dollars per year.
(based on number of taxpayers in 1989 -- using the numbers from 1972, it would be a low double-digit amount).