A star known for her strong female roles in "Star Trek: Voyager" and "Orange Is the New Black" offers an account of the price and rewards of a passionate life. Mulgrew grew up with poetry and drama in her bones; in her mother, a would-be artist burdened by the endless arrival of new babies, she saw the consequences of a dream deferred. She discusses the daughter she gave up for adoption; the challenging roles she has taken on both on and off screen; and the decisions she has made to live life to the fullest, on her own terms.