A decade or 2 ago the consensus was that the earth's mass was increasing primarily due to the arrival of many very small dirty snowball comets/meteor(ites). There is a smaller mass loss due to atmospheric gases being swept away.
If (and I'm not sure what actually occurs) most of this H2O remains in the gaseous phase, then the volume of the earth, if measured at the vaguely/arbitrarily defined boundary of the atmosphere, would increase with material that is less dense than the existing average density of the earth resulting overall in a lowering of the average density.
Note that to all intents and purposes (besides the esoteric) (google phase diagrams and/or supercritical and/or crystal lattice change) liquids and solids are incompressible so roughly speaking their densities do not change with pressure.
For example water (and liquids are more compressible than solids) in the deepest part of the ocean (1000 times more pressure than at the surface) changes less than 1%.