Yes, it does depend on the object's density; it depends on the liquid's density, too.
An object with a lower density than the liquid it is in will float, while an object with a heavier density than the liquid will sink.
Density
the ability to float with density is almost impossible
Objects whose density is lower than the density of the fluid they're in float. Objects whose density is higher than the density of the fluid they're in don't.
objects that are less dense float to the top.
when some thing is less dense than the liquid it floats
objects with higher density than water sink, ones with a lower density float
If an objects density is greater than the waters density it will sink but if it's density is less than the waters density it will float
buoyancy
Objects whose aggregate density is less than the density of water float in it. Objects whose aggregate density is greater than the density of water sink in it.
If an objects density is 1 or less, it will float on water
If an objects density is less than the density of what it is put in it will float. If the objects density is greater it will sink.
Because of the comparative density. If the objects density is greater than water it will sink, if less then it will float.