Yes -- and you can generalize this for certain other prepositions like над ("over") and под ("under") -- instrumental for static position, accusative for motion.
Also, note:
Он сидел за столом. (He was sitting at [lit. "behind"] the table.)
Он сел за стол. (He sat down at the table.)
The latter uses the accusative because "to sit down" implies movement, even though it's not one of the "Verbs Of Motion".