We consider a wave equation with nonlinear acoustic boundary conditions. This is a nonlinearly coupled system of hyperbolic equations modeling an acoustic/structure interaction, with an additional boundary damping term to induce both existence of solutions as well as stability. Using the methods of Lasiecka and Tataru for a wave equation with nonlinear boundary damping, we demonstrate well-posedness and uniform decay rates for solutions in the finite energy space, with the results depending on the relationship between (i) the mass of the structure, (ii) the nonlinear coupling term, and (iii) the size of the nonlinear damping. We also show that solutions (in the linear case) depend continuously on the mass of the structure as it tends to zero, which provides rigorous justification for studying the case where the mass is equal to zero.