Like most commanders of armies, Lee was not not primarily a "field" commander (neither was Eisenhower). He would plan the campaign and leave it to "field commanders" to execute the actual battle. For example, Lee made the decision to divide his army and send Jackson around to flank the Federals at Chancellorsville. How he got there and what he did there was left to Jackson. Lee was constantly having to plan how to attack the enemy while not letting them over-run Richmond (Lee did not think Richmond should be the Confederate Capitol). When one looks at how many times Lee successfully divided his forces, he seems to be an audacious commander. Much of the time, with limited resources, it was all he could do.
Lee was serving an evil cause. Eisenhower was the Supreme Allied Commander of all Allied forces in the field fighting in Europe. George Marshall was The Chief Of Staff in Washington. Eisenhower was the general in Europe, the man on the ground, as it were.