I was told when I got my floor done that 4" is for a city (attached garage) or basement floor, 5" is good for most home shops and will support hobby farm sized farm equipment. 6" is good for big rigs or large equipment. 8" thick or more is for extreme use like warehouse or factory. So anywhere from 6" to 8" would be good for what you need, anymore than that would be overkill and probably a waste of $.
As indicated the base is very important. Get a plate tamper and go postal (although don't go too close to the foundation, years ago I seen a garage foundation crack from over tamping the floor base right against the foundation). I went over my base at least 4 or 5 times with the tamper and I haven't had any problems. Contrast that to my buddies dad shop who didn't compact his base at all (or very little), his floor broke into million pieces after he drove a small, not heavily loaded forklift over it a few times. Before the concrete was pored my excavating guy drove his large dozer over the base I compacted and he said all it did was make small cleat marks, he didn't sink at all, that's how he knew it was plenty adequate. I went with 5" concrete and it's been 3 years now with no problems, even though I store a 60 hp tractor in there and have accidently dropped the front end loader bucket a few times.