What are the major differences between soft lockup and hard lockup which are both detected by watchdog?

What are the major differences between soft lockup and hard lockup which are both detected by watchdog? Here are some example logs: 1. Watchdog: BUG: soft lockup - CPU#0 stuck for 22s! [cantest:1669] 2. NMI watchdog: Watchdog detected hard LOCKUP on CPU 0 Best regards.