What was the difference between senatorial provinces and imperial provinces?

Beginning in 27 BCE, the Roman Empire divided its provinces into two distinct categories based on their administrative and military requirements.12

Senatorial Provinces

Often called "public provinces," these were long-established territories that generally did not require a military presence.32
* Governance: The Senate supervised these provinces. Governors were chosen by lot and typically served one-year terms.21
* Titles: Governors were known as proconsuls, though only those overseeing Asia and Africa were former consuls; others were former praetors.2
* Finance: Quaestors were responsible for provincial finances, though imperial procurators were increasingly introduced over time.12

Imperial Provinces

These provinces were under the direct supervision of the emperor, who held proconsular imperium over them.2
* Governance: The emperor appointed governors who served at his pleasure for indefinite terms.12
* Titles: Governors were typically called legati Augusti pro praetore. Some provinces, such as Judaea, were governed by equites (procurators or prefects).2
* Military: These provinces often contained garrisons; those with one or more legions were governed by former consuls or praetors.2
* Finance: Direct taxes were paid to the emperor’s procurator, an official largely independent of the governor.2