I want to expand (pun intended) on some of the things that Peter has written.
As the universe expands, the energy density of the quantum vacuum remains constant, since there is just more of the same type of vacuum with the same energy density (just as two bars of gold has the same density as one bar of gold). Below, the first law of thermodynamics is used to show that this means a positive energy density vacuum has negative pressure.
Einstein's equation applied to FLRW universes gives (note the negative sign)
$$\frac{d^2 a}{dt^2} = -\frac{4}{3} \pi a \left(3P + \rho\right),$$
where ##a## is the scale factor of the universe. In Einstein's theory of gravity, pressure ##P## is a source of gravity. Positive pressure causes gravitational attraction that slows down the rate of expansion of the universe, while negative pressure causes gravitational repulsion that speeds up the rate of expansion of the universe.
Putting everything together, a positive energy quantum vacuum has negative pressure, and this negative pressure causes gravitational repulsion which in turn causes the expansion of the universe to speed up (accelerate).
(It is important not to confuse the gravitational properties of pressure, with the mechanical force/area properties of pressure. Think of a gas with positive pressure caused by molecules whizzing around. The molecules have masses that cause gravitational attraction, and also kinetic energy that (roughly through the equivalence of energy and mass) causes gravitational attraction.)First Law for Constant Density Expansion
When a material of pressure ##P## undergoes a volume change ##\Delta V##, a work (energy) equal to ##P \Delta V## is required. This affects the (internal) energy ##E## of the material, so the energy of the material changes by an amount ##\Delta E##. The first law of thermodynamics (conservation of energy) gives
$$0 = \Delta E + P \Delta V.$$
Consider a "material" that keeps its energy density ##\rho =E/V## constant as it expands. Because ##E = \rho V## and energy density ##\rho## is constant, the change in energy ##\Delta E## is related to the change in volume ##\Delta V## by
$$ΔE = \rho \Delta V$$
Combining this with the conservation of energy equation gives
$$0 = \Delta E + P \Delta V = \rho \Delta V + P \Delta V = \left(\rho + P\right) \Delta V,$$
which is only true if ##P = -\rho##. If a material that maintains constant (positive) density expands, it must have negative pressure!