The movie is definitely satire. The marines were stylized after Nazis. The opening of the movie was a visual reference to "Triumph of the Will", a Nazi propaganda movie. There's info about it on wikipedia: Starship Troopers (film) - Wikipedia, the free encyclopedia Verhoeven didn't like the novel and stated that he didn't finish reading it because it was boring and depressing. The novel has a drastically different tone and message than the movie.
The movie also works on the level of being a dumb action movie, so it can be easy not to see the satire. The same is true of other Paul Verhoeven movies. Robocop for example.