What are the main differences between EF-S and EF-M lenses in terms of compatibility and performance?

EF-S lenses are designed for Canon DSLR cameras with APS-C sensors, while EF-M lenses are designed for Canon mirrorless cameras with APS-C sensors. EF-S lenses are not compatible with Canon mirrorless cameras, and EF-M lenses are not compatible with Canon DSLR cameras. In terms of performance, EF-S lenses may offer faster autofocus and better image quality on DSLR cameras, while EF-M lenses may be more compact and lightweight for mirrorless cameras.