Objects in C++ often have destructors that need to run at the end of their lifetime. delete[] makes sure the destructors of each element of the array are called. But doing this has unspecified overhead, while delete does not. This is why there are two forms of delete expressions. One for arrays, which pays the overhead and one for single objects which does not.
In order to only have one version, an implementation would need a mechanism for tracking extra information about every pointer. But one of the founding principles of C++ is that the user shouldn’t be forced to pay a cost that they don’t absolutely have to.
Always delete what you new and always delete[] what you new[]. But in modern C++, new and new[] are generally not used anymore. Use std::make_unique, std::make_shared, std::vector or other more expressive and safer alternatives.