Start here. This is the direct spoken answer to practice first.
Why this question matters
Authentication establishes who the caller is; authorization decides whether that caller may perform a particular action on a particular resource. Keeping those boundaries separate prevents a valid identity from becoming blanket access.
Authentication proves who is calling the API, such as a user identified by a validated token. Authorization decides whether that authenticated caller can perform a specific action on a specific resource. A valid token is not enough by itself. The API still needs permission and ownership checks before returning or changing data.