Just about every show that has been cancelled after 2+ seasons over the last 10-15 years has the production company behind it saying, "Production costs were too high" followed by "viewership was declining".
Those seemed like legitimate reasons early on but I have read that excuse dozens of times in the last few years when checking if TV shows were cancelled, yet they keep making new shows and cancelling them for the exact same reasons.
If that were truly the reason they would eventually at least add some low-cost productions, but they rarely do that. If the set/location costs are lower, they offset it by bringing in higher paying actors, so it's not really a problem for them.
The truth is the networks have figured out something the NFL figured out long ago .. it's cheaper to drop the shows with actors seeking their 3rd+ season contracts and replace them with new shows with actors on their 1st-2nd year contracts.
While only one season may be guaranteed with a show, the framework for most primary actors in their contracts is defined for the first two seasons of the show.
Basically its "if show is renewed, this is what you will be paid in season 2" agreements so that's why even bad shows sometimes get a second season because it can be cheaper to film scenes/episodes of the second season (especially those with changing locations) ahead of time and the production company already knows how much the actors will cost.
So the production companies will blame costs but in reality it's not that shows are cost-prohibitive but simply profit margins are directly impacted making newer shows more profitable.
The exceptions of course are the shows with a high probability of syndication, especially if they can hit that 100+ episode magic number