Here are some myths that people tend to believe.
1. Sega CD: While the Sega CD was a disappointment for Sega and it's games were rather embarrassing, that wasn't "the beginning of the end" for Sega like many would believe. For an add-on, it sold somewhat decently. It had a lifespan of 4-5 years depending on the region. Also, had it been Sega's one blunder, it could have easily have been buried just like how Nintendo was able to make people forget about Virtual Boy. The truth is it was the 32X that was the beginning of the end for Sega It was the death sentence. The Sega Saturn was the stake in the heart and the Dreamcast was the external bleeding that couldn't be stopped.
2. Sony: While Sony dominated the market with the PS2, it was not Sony who killed Sega. Sega killed Sega. It isn't like Sega did everything right but Sony won anyway. Sony did almost everything right while Sega did so much that was wrong. Even though Dreamcast did a lot that was right, the damage was already done. As proof of this, look at Nintendo. Nintendo lost a lot of marketshare and a lot of third party support to Sony but they survived and even thrived because they were still profitable, unlike Sega.
That being out of the way, sales did not kill Sega. At 10 million units sold, Dreamcast had a healthy enough market. It was the lack of money that killed Sega. Even though Dreamcast was selling well, it wasn't making Sega the money it needed to make. The 32X was a bomb and led to the betrayal of consumer trust. Sega Saturn was a clusterfuck that almost completely bankrupted Sega. So yeah, it was money. Even with Sony's powerful marketing and Nintendo's constant exploitation of their multi-million dollar franchises, had Sega been profitable, Dreamcast may have lived on.
Another thing that screwed Sega out of the console market and perhaps for all time is when the Japanese management decided to no longer listen to Tom Kalinske. Had they listened to Tom Kalinske, Sega would still be in the console market today and would still be a dominant force in the industry today.