Gina,
You can get a lot of data from Salesforce in an automated way by setting up initiated and influenced pipeline reports. As long as your prospects get added to campaigns when they respond to your Marketo programs, and your reps add them to the contact roles of your Salesforce opportunities, you can get automated pipeline reports.
Do you have this setup already or are you looking for more advanced reports?
I would echo Diederik's comment that Marketo Revenue Cycle Analytics is a good tool, but personally I find pipeline reports are still best to come directly from the source, which is Salesforce. Now if we are talking about dashboards and making things look nice, then yes, you may want to look for a new tool altogether. I saw a domo demo at the Marketo User Summit that looked beautiful, but have not used it. We just purchased Tableau at my company, so I'm going to be looking into integrating that with Marketo & SFDC shortly.