Risk aversion is huge in the launch industry (Boeing is just incompetence).
One of the slogan's in the industry before SpaceX was "If it hasn't flow before, it doesn't fly". This resulted in huge stagnation of development because once something worked, nobody wanted to make modifications no matter how much sense they made. This resulted in decades old technology still flying. The tried and true method of carrying communication in your rocket to flight control systems was what was called a wiring harness. This was a cumbersome bundle of cables that went up the side of the rocket. The cables were expensive, time consuming to integrate and heavy. However it worked successfully for decades so that is what flew. SpaceX replaced that bundle of cables with standard Cat-5 cable for communication and called it good.
While SpaceX's use of full propulsive recovery was innovative for the F9 booster. McDonnell Douglas had worked on something similar in the 90's with the DC-X technology demonstrator. However they only worked on it because the Govt was footing most of the bill. Once the government lost interest, McDonnell Douglas also lost interest. The entire project had a lot of potential to be a basis for the 1st stage of a orbital class launch vehicle but McDonnell was not going to foot the bill. Blue Origin eventually up hired a lot of the DC-X people and the New Sheppard is inspired by the DC-X.
SpaceX has shown the industry that you need to be able to continuously innovate if you are going to stay relevant.