Sweden, formally the Kingdom of Sweden, is a Nordic country located on the Scandinavian Peninsula in Northern Europe. It borders Norway to the west and north, and Finland to the east, and shares a maritime border with Denmark to the south. At 450,295 square kilometres (173,860 sq mi), Sweden is the largest Nordic country by both area and population, and is the fifth-largest country in Europe. Its capital and largest city is Stockholm. Sweden has a population of 10.6 million, and a low population density of 25.5 inhabitants per square kilometre (66/sq mi); 88% of Swedes reside in urban areas. They are mostly in the central and southern half of the country. Sweden's urban areas together cover 1.5% of its land area. Sweden has a diverse climate owing to the length of the country, which ranges from 55°N to 69°N. Sweden has been inhabited since prehistoric times around 12,000 BC. The inhabitants emerged as the Geats (Swedish: Götar) and Swedes (Svear), who formed part of the sea-faring peoples known as the Norsemen. A unified Swedish state was established during the late 10th century. In 1397, Sweden joined Norway and Denmark to form the Scandinavian Kalmar Union, which Sweden left in 1523.