The differences between totalitarian and authoritarian rule?

The differences between totalitarian and authoritarian rule

This post is based on the 3rd chapter of Xavier’s book. When understanding the difference between totalitarian regimes and authoritarian it seems that one is simply a more extreme version of the former, that being that totalitarianism is an extreme form of authoritarianism. The differences are summarized in the conclusion of the paragraph where, as opposed to eliminating all forms of competition like was done in the Soviet Union governments simply control them or make it impossible for competing powers to have any real hold, whether it be through censorship (such as the Mexican Media) or the twisting of their political system which make it impossible for another party to compete, such as China or Russia. It seems authoritarian regimes maintain their control through more soft power methods and to a lesser extent than a totalitarian regime which would use force to impose its ideology on all citizens comprehensively. Correct me if I'm wrong or feel free to add any other differences which I've missed? Even discuss which former/current regimes might fall under these two categories or if they do and why/why not