What is the Difference Beween Poetry and Prose?

Billy Collins said in an interview => "I write one line at a time. I’m a line-maker. I think that’s what makes poets different from prose-writers. That’s the main way. We think, not just in sentences the way prose writers do but also in lines. So we’re doing these two things at the same time. When I’m constructing a poem, I’m trying to write one good line after another. One solid line after another. You know a lot of the lines ... hold up better as lines than others. But I’m not thinking of just writing a paragraph and then chopping it up. I’m very conscious of the fact that every line should have a cadence to it. It should contribute to the progress of the poem. And that the ending of the line is a way of turning the reader’s attention back into the interior of the poem."  --- https://www.poets.org/poetsorg/text/brisk-walk-billy-collins-conversation

Do you think 'lines' laid-out in stanzas vs 'sentences' strung out in paragraphs is the crux of the difference?