One of the oddly convenient coincidences in the English system of measurements is that a sheet of balsa that's one inch thick, three inches wide, and 36 inches long has a weight in ounces exactly equal to its average density in pounds per cubic foot. Since wood comes to us in fractional sizes, and since 3/32 wood is, for all practical purposes, 1/10 inch thick, this makes it easy to figure out the density of a 3x36 inch sheet.
3x36x3/32 weighing 23 grams is about 8 lb/cubic foot, which is nice but no great shakes.
You can learn to grade wood well enough without a scale for the purposes of buying it. Just start by buying whatever feels light, then when you get home write the density on each piece with a felt-tip pen. To teach yourself to grade it, guess the density before you measure -- do that long enough, and you'll get the knack.