Is Class D better than Class H amplifier?

I'm curious to understand the advantages and disadvantages of Class D amplifiers compared to Class H amplifiers. Could you elaborate on which one might be better suited for certain applications, considering factors like efficiency, power output, heat dissipation, and cost? Additionally, how do their operating principles differ, and which one might offer better audio quality or performance in specific scenarios? I'm looking for a comprehensive comparison that takes into account the various aspects of both amplifier classes.