Does Judaism believe in democracy?

Having a democratically elected government that is answerable to people in free and fair elections, is a key principal in the United States constitution and central to the modern nothion of freedom and liberty. Does Judaism advocate for democratically elected government? When Jews lived in Israel as an independent nation, we were mostly ruled by monarchs. Is monarchy, the Torah's preferred form of government? Are there other forms of government that the Torah would advocate for? A fascinating discussion about the ideal Jewish government and how Judaism views democracy.