"Which" is for non-restrictive, nonessential clauses (often set off by commas).
"That" is for restrictive, essential clauses.
"Which" can be used for restrictive clauses, as long as the clause is not set off by commas.
Via T__ L__, the AP style guide sez the same.
Via S__ S__, Grammar Girl's Quick and Dirty Tips include basically the same formulation, i.e. which is expendable, that is defining.
That is all.
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