What is the author's style in Stranger in a Strange Land by Robert A. Heinlein?

Heinlein's utilitarian prose tells the story in a straightforward manner, although he invents words and uses descriptive phrasing in place of curse words, which keeps the story polite yet earthy. He fully defines major word inventions, such as "grok" but takes a few liberties with standard word forms. However, the English language develops this way. His liberties are not strictly correct, but maybe they should be.