MILWAUKEE - Hillary Clinton and Bernie Sanders vigorously agreed. Except when they didn't.

The rivals spent much of Thursday's sixth Democratic presidential debate in a respectful discussion of their marginal differences on issues like immigration, criminal justice reform and entitlements. But both were animated when the contest turned to one of fundamental questions facing Democrats: has President Barack Obama gone far enough in his policies and if not, how far should the next president go?

Clinton, who has cast herself as the rightful heir to Obama's legacy, accused Sanders of diminishing the president's record, short-changing his leadership and seeking to wipe away his signature health care law.

Sanders responded by noting that Clinton was the only one on the stage who ran against Obama in the 2008 presidential race.