You cannot.
Density = Mass/Volume so without the volume of the substance in question, you cannot convert mass into density.
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It depends on the density of the material. Think of a 20 ft container filled with feathers and another filled with lead. Do you think they will have the same mass?
density = mass/volume density = 15/20 = 3/4 units/ml
20 kg
density = mass divided by volume density = 20/10 = 2 g/cm3
2g per cm3