Symmetric-matrix double cover of SO0(2,1) ($SL(2,\mathbb{R})/\{\pm I\}\cong S{O}_0(2,1)$)

Congruence $X\mapsto AX{A}^T$ on real symmetric two-by-two matrices preserves the quadratic form $-\det X$ of signature $(2,1)$ when $\det A=1$. Its kernel is $\{\pm I\}$ and its derivative is injective: $aX+X{a}^T=0$ for every symmetric $X$ implies $a=0$. Both Lie groups have dimension three, so the connected image is the full identity component. Also $A^{T}JA=(\det A)J$ identifies $Sp(2,\mathbb{R})$ with $SL(2,\mathbb{R})$.