Bonjour Brandon,
Chris's answer is excellent! Lorsque and quand are indeed synonyms, with lorsque being more formal. As for an explanation on the 'slight differences' between the two, there doesn't seem to be any really - see the note (under "Rem. gén." # 3) from the link here: CNRTL-lorsque
I hope this is helpful.
Bonne journée !