Yes.
There is a "self discharge", where the battery loses some of its charge simply because it isn't used. This is true of pretty much any battery to a degree, although it depends on the type. Lithium rechargeable batteries (like the ones used in MacBooks) can lose maybe less than 1% of their charge per day.
If you plugg in the power adapter, if the battery is sensed at being more than 94% charged, the charging system won't top off the charge to 100%. Once it starts to top off, it'll get to 100% as long as the charging sequence is uninterrupted.
Lithium rechargeable batteries also permanently lose capacity as they age.