Definition A bilinear form, or bicharacter on an abelian group $A$ with values in another abelian group $E$ is a function $b\colon A \times A \to E$ satisfying: $$b(x,y+z) = b(x,y) + b(x,z)$$ $$b(x+y,z) = b(x,z) + b(y,z)$$ It is said to be symmetric if $b(x,y) = b(y,z)$.
Definition A quadratic form on an abelian group $A$ with values in an abelian group $E$ is a function $q\colon A \to E$, such that $q(x) = q(-x)$, and the form assigned to it $b(x,y) := q(x+y) - q(x) - q(y)$ is bilinear.
It is obvious that the bilinear form assigned above is also symmetric, so it is a natural question to ask which bilinear forms come from a quadratic form.
In this article, it is stated that "if the order of the group $A$ is odd, the assignment [...] defines a bijection between symmetric bilinear forms and quadratic forms, but in general, it is not a bijection."
How do I see this? How can I recover the quadratic form from the bilinear form in the case of odd order? And how does the assignment fail to be bijective? Is it still surjective or injective? How can I see which bilinear forms will not come from a quadratic form?