Yes.
An object floats in water if it can displace a volume of water that is equal to its mass. The denser the water is the less volume is needed for the same mass, and so the higher the object will float.
This is the reason for the invention of the Plimsoll Line on the sides of ships - it shows how the ship will float in different waters which have different densities due to saltiness and temperature, and so indicates a safe loading limit.
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it will float
An object will float on water if it has less density than the water. Or than any other liquid on which it is supposed to float.
The density of an object is its mass divided by its volume. If that is less than the density of water, it will float; if greater it will sink
Density of the substance will always stay the same. Density of the object will also stay the same if solid, no matter the size, but not if it is carved out. That is why a steel boat can float
a 5 gram object that is 5 cm³ :)