They are among the largest objects in the Solar System with the exception of the Sun and the eight planets, with radii larger than any of the dwarf planets. Ganymede is the largest moon in the Solar System, and is even bigger than the planet Mercury, though only around half as massive. The three inner moons—Io, Europa, and Ganymede—are in a 4:2:1 orbital resonance with each other. While the Galilean moons are spherical, all of Jupiter's much smaller remaining moons have irregular forms because of their weaker self-gravitation.