Beginning in the 21st century, the world population reached approximately 6 billion and has since grown to over 7 billion. Population density is measured as the number of people per square kilometer, and can be categorized as high (over 200 people/sq km), middle (11-50 people/sq km) or low (1 person/sq km). Population growth or change refers to the change in a population's size over a specific time period, and can be positive if the birth rate exceeds the death rate, or negative if the birth rate falls below the death rate. In addition to births and deaths, migration between locations also impacts population size.