How Do People Balance Competition With Teamwork

In sales it seems important to have a balance of (friendly) competition and teamwork. How have people balanced this at their organization so your SDRs are working and competing with each other to their benefit? It seems to be a fine line between having your SDRs compete amongst themselves without pushing anyone to burn out, but at the same time making sure people help each other and give their co-workers the resources they need to succeed.