Why is Horatian satire considered milder than Juvenalian satire?

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Horatian satire is considered milder than Juvenalian satire because of the differing intentions and temperaments of the two Roman poets who defined these modes.1

Horace, acting as an urbane man of the world, approached satire with a focus on "mild mockery and playful wit". He viewed himself not as a prosecutor seeking to inflict pain, but as an observer who laughed at the nonsense and folly he saw around him. His style is characterized as easy, unpretentious, and flexible, reflecting a moral concern that is moved to laughter rather than malice.1

In contrast, Juvenalian satire is defined by the posture of an upright, indignant critic whose heart is consumed by anger and frustration. Juvenal perceived the corruption and vice of his time as so pervasive that he felt compelled to respond with bitter, ironic criticism, personal invective, and a tone that often approaches the gravity of tragedy. While Horace aims to amuse and gently reform through irony, Juvenal employs a militant irony to denounce the evils of society.12