"Fill up" usually denotes occupying space and the "up" is optional.
For example, you can say "I don't want to fill up your brain with ideas" or "I don't want to fill your brain with ideas". Also, "I need something to fill up my brain with ideas" or "I need something to fill my brain with ideas". Both work.
*However, one thing to note that other people might note is that when you say "fill up", it emphasizes how full something is, whereas if you just say fill, it is usually implied that something is fully filled, but not always.