Usually I use 150pcf like these other folks said. That said, to directly answer your question, most of the time you are good just using that ballpark figure. W_reinf_concrete_unit = Vconc * 150pcf
You could get the density of the mix and multiply it by the volume of concrete MINUS all the volume of reinforcement, stirrups, etc. Then add to that the volume of steel times about 490pcf to get a total, but you'll find that it it usually isn't worth your trouble.