NPCs generally fit into four categories -
-The largest group are named NPCs that, when they die, are gone for good.
-The second group are called 'essential' because they can be knocked unconscious, but not killed. These can be identified when you approach them becasue they have a crown type symbol instead of a round one when you are close to them. These NPCs are normally essential to support one quest or another. Sometimes, their status changes to nonessential after their 'role' is completed.
-The next group are what I call generic or unnamed NPCs - like Imperial Legion Soldier, Imperial Forester, Courier, Bravil Guard. These NPCs can be killed, but respawn after three days.
-The final group is a very small one. These are named NPCs that can be killed but will respawn.