There is no single cut-off. EPS at about 2 lb/ft³ and 25 psi (ASTM C578 Type IX) and above is generally called high density. Insulfoam R-Tech goes up to 3.0 lb/ft³ and 60 psi.
Under-Slab & Radiant Floor EPS Insulation
EPS insulation under concrete slabs and radiant floors, from 10 to 60 psi, faced or unfaced.