If Wikipedia's comments are to be trusted it would seem that it was the failure of the contractor.
Actually, I have to agree with regard to Northrop's upper management of that period and some of the upper program management. One "lesson learned" was that you don't go with the lowest bidder, you go with the lowest qualified bidder (there is a demonstrable difference and it definitely delayed matters of development). Another lesson was that you don't agree to technical changes without compensation changes in the contract ("sure, we can do that" without asking for budget can really hurt you).
For me, I think the most annoying event, other than the layoff when the program was cancelled, was the Army cancelling their version just as we were about to conduct a test launch to verify that we'd fixed the problems found in the previous, problem-plagued, launch. The missile itself performed well, at least when built to spec (had one test fail at the very last second because a sub-sub-contractor messed up) and would be most useful today.
At the time of cancellation, there was a study under way to meet a longer-ranged RAF requirement that would've made for a slightly longer missile.