Yes, it seems so. In the Prose Edda, when Thor is presented with the hammer by Brokkr, this property is in the description (Page 147, here):
> Then he gave the hammer to Thor, and said that Thor might smite as hard as he desired, whatsoever might be before him, and the hammer would not fail; and if he threw it at anything, it would never miss, and never fly so far as not to return to his hand;