Does God punish people for their ancestors' sins or not?

Exodus 20:5 (NASB) says, > You shall not worship [idols] or serve them; for I, the Lord your God, am a jealous God, visiting the iniquity of the fathers on the children, on the third and the fourth generations of those who hate Me, But Ezekiel 18:20 (NASB) says > The person who sins will die. The son will not bear the punishment for the father’s iniquity, nor will the father bear the punishment for the son’s iniquity; the righteousness of the righteous will be upon himself, and the wickedness of the wicked will be upon himself. How are these two passages reconciled?