The most significant difference is probably that
USPSA (IPSC) lets the shooter determine what targets will be engaged from where, when (within the parameters of that stage).
IDPA is far more restrictive, requiring use of cover, keeping partially-loaded mags, not running the gun dry (not a good idea in either discipline), etc. If you don't mind being told how a course should be shot, you won't mind IDPA.
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