Intuition, please? Example? https://mathoverflow.net/questions/278641/intuition-for-symplectic-groups The key motivation seems to be related to Hamiltonian mechanics. The two arguments of the bilinear form correspond to each set of variables in Hamiltonian mechanics: the generalized positions and generalized momentums, which appear in the same number each.
Seems to be set of matrices that preserve a skew-symmetric bilinear form, which is comparable to the orthogonal group, which preserves a symmetric bilinear form. More precisely, the orthogonal group has: indefinite orthogonal group has: https://www.ucl.ac.uk/~ucahad0/7302_handout_13.pdf They also explain there that unlike as in the analogous orthogonal group, that definition ends up excluding determinant -1 automatically.