This forum has covered the topic of THAT and WHICH in depth.
That is restrictive and and tells the reader which one you mean. The book that you recommended, All the items that are on the table, the table that has the scratch on the leg, the house that has the pretty fountain.
Which provides additional information and the clause is set off by commas. I've added to the additional information here. The book [which you told me to read, by the way] was very good. All the items [which are still on the table, because the wind didn't blow them off] are for sale. The table [which had a scratch on the leg, but I didn't mind] was only $50.
They are not interchangeable. It may be moving in that direction and in another 20 years the distinction will be gone, but it's still there now.