A $20-\mathrm{m}^3$ tank contains nitrogen at $23^{\circ} \mathrm{C}$ and $600 \mathrm{kPa}$. Some nitrogen is allowed to escape until the pressure in the tank drops to $400 \mathrm{kPa}$. If the temperature at this point is $20^{\circ} \mathrm{C}$, determine the amount of nitrogen that has escaped.