Density of water and temperature

Is there a formula that shows how the density of water is affected by temperature?

For example, with the speed of sound it can be shown how temperature will affect the speed:

$$V = 331\ \mathrm{m/s} + \left(0.6\ \mathrm{\frac{m/s}{°C}}\right)T$$

Is there a similar formula that relates the density of a liquid to temperature? (in this case, water)