What is the differece between the Intramembranous ossification vs endochondral ossification

Intramembranous ossification is a process by which flat bone like of skull, clavicle and mandible are formed from a fibrous template of bone.

On the other hand, Endochondral Ossification Bone formation involves cartilage that is then replaced by bone itself by gradual generation process. For example, in the epiphysis and physis etc ...