If you want to avoid guessing, you can use this formula:
S1 = D1 / D2 * S2
where
D1 is the distance you tried to move
D2 is the distance you actually moved
S1 is the correct extruder steps per mm (what you want to set the value to)
S2 is the current extruder steps per mm
Example:
I send a command to extrude 150mm of filament (D1 = 150) but the filament actualy moves 160mm (D2 = 160).
My extruder is currently set to 700 steps per mm (S2 = 700).
To correct the movement I need to set the steps per mm to S1,
S1 = D1 / D2 * S2
S1 = 150 / 160 * 700
S1 = 656.25
So setting the steps per mm to 656.25 will give the correct movement.
This would also work for configuring you axes steps/mm.