Hydrogen storage is "Approx. 5.0 kg"
122.4L of volume (60L front, 62.4L rear)
pressure is between 70 MPa and 87.5MPa
Doing the math shows:
density of hydrogen at 70MPa equals 36.69 g/L [1]
122.4L at 36.69 g/L equals 4.49kg [2]
density of hydrogen at 87.5MPa equals 45.96 g/L [3]
122.4L at 45.96 g/L equals equals 5.63kg [4]
So the amount is somewhere between 4.5kg and 5.63kg, depending upon the final pressure after filling. Which seems to line up squarely with "Approx. 5.0kg".
[0] - https://pressroom.toyota.com/releases/2016+toyota+mirai+fuel...
[1] - http://www.wolframalpha.com/input/?i=density+of+hydrogen+at+...
[2] - http://www.wolframalpha.com/input/?i=122.4L+at+36.69+grams%2...
[3] - http://www.wolframalpha.com/input/?i=density+of+hydrogen+at+...
[4] - http://www.wolframalpha.com/input/?i=122.4L+at+45.96+g%2FL