Both authoritarianism and totalitarianism discouraged individual freedom of thought and action.
But in the earlier forms of authoritarianism, the state (a dictator or small group of political elite) monopolized political power, and as long as that was not challenged it provided society a certain level of liberty.
In contrast, the totalitarianism aroused after WWI attempted to control all aspects of social life, including the economy, education, art, science, private life, and morals.