I am going through a book (Roberts and Schmidt, Local Newforms for GSp(4)), which states the following group decomposition. Let $F$ be a non-archimedean field, $\mathfrak{o}$ its ring of integers and $\mathfrak{p}$ its maximal ideal. Then, in terms of subgroups of $\mathrm{GSp}(4)$, $$\left( \begin{array}{cccc} \mathfrak{o}&\mathfrak{o}&\mathfrak{o}&\mathfrak{o}\\ \mathfrak{p}^n&\mathfrak{o}&\mathfrak{o}&\mathfrak{o}\\ \mathfrak{p}^n&\mathfrak{o}&\mathfrak{o}&\mathfrak{o}\\ \mathfrak{p}^n&\mathfrak{p}^n&\mathfrak{p}^n&\mathfrak{o} \end{array} \right) = \left( \begin{array}{cccc} 1& & & \\ \mathfrak{p}^n&1& & \\ \mathfrak{p}^n& &1& \\ \mathfrak{p}^n&\mathfrak{p}^n&\mathfrak{p}^n&1 \end{array} \right) \left( \begin{array}{cccc} \mathfrak{o}^\times&&&\\ &\mathfrak{o}&\mathfrak{o}&\\ &\mathfrak{o}&\mathfrak{o}& \\ & & &\mathfrak{o}^\times \end{array} \right) \left( \begin{array}{cccc} \mathfrak{1}&\mathfrak{o}&\mathfrak{o}&\mathfrak{o}\\ &\mathfrak{1}& &\mathfrak{o}\\ & &\mathfrak{1}&\mathfrak{o}\\ & & &\mathfrak{1} \end{array} \right) $$
where missing entries are zeros. I would like to understand this decomposition more generally, for I would like to apply that for other groups. Is there any general setting for this Iwahori factorization? (it seems similar to an $LU$ factorization, however is it always true and what are exactly the three groups appearing on the right?)
I got only partial answers on MSE hence I post the question here.