Answers and comments to this question about the advantages of a Mars colony over a Moon colony refer to the fact that aerobraking can be used on Mars but not the Moon. So the pressure on Mars, $\approx 6 \times 10^{-3}$ bar (source), although weak by Earth standards, is sufficient for aerobraking. On the other hand, the much lower pressure on the Moon, $\approx 3 \times 10^{-15}$ bar is not sufficient for aerobraking. This answer claims that Pluto's atmosphere ($\approx 10^{-5}$ bar) is sufficient for aerobraking. So somewhere between $10^{-5}$ and $10^{-15}$ bar, aerobraking must become infeasible.
I realize that there are probably several factors involved (the mass of the craft, the thickness of the atmosphere), but around what order of magnitude would aerobraking become infeasible for a craft of similar size to Mars InSight (a 608 kg craft entering the atmosphere)?
Is atmospheric pressure even the right quantity to consider? Is mass density more important?