Is Undercover Boss fake or scripted?

I've been watching "Undercover Boss" and I'm starting to wonder, is it really all real? It seems like sometimes the situations and reactions are just too perfect to be true. Do you think the show is fake or heavily scripted? I mean, the whole premise is that the CEO goes undercover to work alongside their employees, but do you think there's any truth to that? Or is it all just for the cameras?