Is Bifrost decentralized?

Could you elaborate on the degree of decentralization exhibited by Bifrost? Many projects claim to be decentralized, but the reality often differs. I'm interested in understanding if Bifrost truly embodies the CORE principles of decentralization, such as distributed control, lack of a central authority, and resistance to censorship. Furthermore, how does its architecture and governance model contribute to its decentralization? Are there any specific features or mechanisms that Bifrost employs to ensure decentralization? Clarifying these points would help me assess the credibility of Bifrost's decentralization claims.