No, you and Scott are not ‘bad people.’ You two simply have fetishes. You are an exhibitionist, he has the desire to see his woman pleasured by other men, and may have the cuckold fetish. If you also go a little further to actually having sex with another man while Scott watches, it’s just a furtherance of your fetishes.
A fetish isn’t ‘bad’ until it hurts another person, IMHO. Who are you hurting? Not yourself, not Scott, and certainly not the other man.
If you want to bring another man into your bedroom and he’s willing, why not? All of you are adults, you can run your life the way you want. Go for it!
As far as definitions go, don’t worry about them. For myself, I see ‘swinging’ and ‘the LifeStyle’ to be any situation where a committed couple has willing sexual experiences with third parties. So ‘hotwife’ and ‘open relationships’ and even MFMF are simply subsets of swinging. (I know, I know, some people will disagree with that, perhaps violently. Show me the terms in Merriam-Webster, and I’ll conform to that.) If you’re enjoying something, what do you care what other people call it?
Best of luck.