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It is a book written at the end of his career and critics didn't care for it because it jumped around to different plot lines they couldn't keep up with. It is a fan's book that makes references back to previous novels without explanation. It is also somewhat cerebral and I found this fan blog referencing some of that:

https://twistedphysics.typepad.com/cocktail_party_physics/2006/07/spec_fic_second.html

When I looked for the passage I posted I happened to find the book on a .pdf.

http://www.hgsitebuilder.com/files/writeable/uploads/hostgator72979/file/zark.pdf

You could get right into it.

Robert A Heinlein - The Number of the Beast