The mass of bodies is determined by its composition, so a body with more iron will be more dense then one made of lighter materials. This is used to produce a radius for the body, and in turn an average density.
I'll have to check if we've specifically defined a composition for Prometheus or not. But you'll find discrepancies where we've had to more or less "guess" what a body is made out of, when it might not be know in real life. This is often the case for extra-solar bodies and planets.