[noun], who/which/whose/where + [clause], [rest of sentence]
[sentence], which + [clause]
A non-defining relative clause gives extra information. You already know who or what the speaker means, so the sentence is complete without it. Commas go around it, and in speech there is a small pause.
You can't use that in a non-defining clause. Use who or which. You also can't leave the relative word out.
A defining clause tells you which one, so the sentence needs it, and there are no commas. A non-defining clause only adds something, and it has commas.
Which after a comma can be about everything that came before it.