Well, Sulfur is less electronegative (2.4) than Oxygen (3.5). Hydrogen-Sulfur bonds are less polar, hence molecules are less attracted by the other molecules. So, as the 'packing' is reduced, the density is a little bit lower ... Hydrogen bonds have a tremendous impact on property, as the boiling point of H20 (100 °C) compared to the point of H2S (-60 °C)