OPA and Gatekeeper: OPA or Gatekeeper?

In the last couple of posts, I wrote about Open Policy Agent (OPA). People almost always ask one question: what is the difference between OPA and Gatekeeper when it comes to Kubernetes admission control? And, generally, follow up with another question: so should I use Gatekeeper instead of OPA?

Admittedly, the OPA documentation does a nice job explaining OPA and its use cases. It also has a brief section about the difference between Gatekeeper and OPA. But for those just getting started with OPA, this difference isn't always clear.