 Lie algebra of a quadratic-form stabilizer

For a real quadratic form $Q(v)=v^{T}Av$ with $A$ a symmetric matrix, its stabilizer is $G_Q=\{g\in {\mathrm{GL}}_n(\mathbb{R}):g^{T}Ag=A\}$. Its Lie algebra consists exactly of $X$ satisfying $X^{T}A+AX=0$. Differentiation proves necessity; the matrix exponential proves sufficiency because $e^{t{X}^T}A{e}^{tX}=A$. The result holds even when the quadratic form is degenerate.