Elon Musk will step down as Tesla chairman to settle fraud charges brought by the U.S. over claims he made saying he'd take his company private. As part of Musk's settlement, both Tesla and Musk will each pay a $20 million fine — and Musk can stay on as CEO, the Security and Exchange Commission (SEC) announced Saturday.

What does that mean for Musk and Tesla? And what are the differences between these two roles anyway? We take a look at what sets the CEO and chairman roles apart.