Reference for Galileo's Law of Motion

It is stated in some places that one of Galileo’s laws of motion is that two objects in free fall in a local gravitational field with different densities will hit the ground at the same time in a vacuum.

Is this actually a ”law of motion” as Galileo stated it or similar to something he stated, or just a corollary of the other laws? Is there some reference where he actually writes down laws of motion in the same way that Newton did in the Principia? Sorry if this is well-known, I don’t really know the exact historical details before Newton.