thermodynamics - What is the differentiating factor between work and heat?'

Although work and heat do the same thing (increase or decrease the internal energy of the system), There is still a fundamental difference between them. For example, The way in which entropy is defined is a very good way to differentiate between work and heat. But, why is there such a distinction between the two things? Is it the limitation of Newtonian mechanics that it never accounted for something like heat which could also change the energy of the system? Is the word "Thermodynamical work" or "Hidden work" suitable for heat?