The absolute simplest way to put is the space between atoms, or more accurately, the lack thereof.
Density is a measurement of something’s mass within a certain volume. Essentially, how much stuff can you fit into the space.
So, less room between particles means you can pack more particles into a the space.
Edit: Forgot a word.
It’s two things, the amount of mass packed in atoms and the space between atoms. Heavier elements have more protons and neutrons in their nuclei, which are astronomically heavier than electrons, so that dictates the mass and “density” at the atomic level. Internolecular interactions (how molecules of a given substance interact) dictates how close the atoms will be together.
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