It has been known for a long time that Venus is in thermal equilibrium with incoming solar radiation (
Tomasko, et al., 1980). Venus does not radiate more heat than it received from the sun, nor does it absorb more heat energy than it radiates back into space (although perhaps now a bit dated, see my
Talk.Origins entry
Is Venus Young?)
However, it has been known since the days of the Voyager mission that all 4 of the gas giant planets emit more heat energy than they receive from the sun. The most unbalanced of the lot is Neptune, which radiates roughly three times the energy it receives from the sun. But this is not hard to understand. All 4 of the gas giant planets are simply too large to have cooled off since the solar system began. Just as Earth keeps itself warm by creating heat energy inside (radioactive decay of unstable heavy elements in the mantle) the gas giant planets create heat energy inside through the viscous friction of helium continuously sinking through the lighter hydrogen.
Jupiter emits about 1.7 times as much energy as it gets from the sun (
Hanel, et al., 1981).
Uranus emits about 1.06 times the energy it gets from the sun (
Pearl, et al., 1990).
Neptune emits about 2.6 times as much energy as it receives from the sun (
Pearl & Conrath, 1991). I don't remember the number for
Saturn and it's not in the abstract of
Hanel, et al., 1983. Since I am now retired, I can't see the paper that is not open source. So you'll have to find that yourself.
All of the terrestrial planets (Mercury, Venus, Earth, Mars & Pluto) are in energy balance with insolation, averaged over the entire globe and a full orbit.