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

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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.

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