Air is squishy. At sea level, we have the weight of the whole atmosphere sitting on top of us, so it squishes the air to a higher density. Higher up in the atmosphere there is less air above, so the weight squishing the air down at that altitude is less. To push an airplane through the air you have to push the air aside and around it. Up high where the air is less squished, there is less air in the space a plane needs to move through, so it takes less effort to push it out of the way.
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