Exclusive rights contracts are one-year contracts worth the minimum salary based on the number of years a player has accrued.
Marshall, 24, wound up going undrafted out of Florida State back in 2018. He was waived coming out of the preseason and later re-signed to the Broncos practice squad.
Marshall managed to make the 53-man roster last season.
In 2019, Marshall appeared in all 16 games for the Broncos and recorded 25 tackles, a forced fumble and a recovery.
Taylor, 23, wound up going undrafted out of Kansas back in May of last year. He was on and off of their roster before eventually being claimed by the Broncos in November.
In 2019, Taylor appeared in five games for the Colts and recorded seven tackles, no interceptions and a pass defended.