Although Uranus has a somewhat lower density than Jupiter, it has a higher proportion of elements

heavier than hydrogen and helium. Jupiter’s greater mass (by a factor of 22) leads to a greater
gravitational force and thus greater self-compression than for Uranus. This additional compression adds
to Jupiter’s bulk density. If Uranus were made of the same proportions of material as Jupiter, it would be
considerably less dense than it is.

Different models proposed for the Uranian interior assume different ratios of rock (silicates and metals),
ices (water, methane, and ammonia), and gases (essentially hydrogen and helium). At the high
temperatures and pressures within the giant planets, the “ices” will in fact be liquids. To be consistent
with the bulk density data, the mass of rock plus ice must constitute roughly 80 percent of the total
mass of Uranus, compared with 10 percent for Jupiter and 2 percent for a mixture of the Sun’s
composition. In all models Uranus is a fluid planet, with the gaseous higher atmosphere gradually
merging with the liquid interior. Pressure at the centre of the planet is about five megabars.

(Source: britannica.com)