An article of footwear, comprising: an upper; and a sole structure engaged with the upper, wherein the sole structure includes a first polymeric foam member for supporting at least a heel area of a wearer's foot, wherein the first polymeric foam member includes: a lateral side wall, a medial side wall, a rear heel wall connecting the medial side wall and the lateral side wall, a bottom wall connecting the medial side wall, the lateral side wall, and the rear heel wall, and an open end opposite the rear heel wall, wherein the first polymeric foam member extends around a rear heel area of the sole structure, and wherein at least a portion of the bottom surface of the first polymeric foam member is exposed; a second polymeric foam member having a heel portion at least partially received in a space defined between the lateral side wall, the medial side wall, the rear heel wall, and the bottom wall of the first polymeric foam member, wherein a forefoot end of the second polymeric foam member extends beyond the open end of the first polymeric foam member, wherein the second polymeric foam member has a density that is less than a density of the first polymeric foam member, and wherein a portion of a bottom surface of the second polymeric foam member is exposed at a bottom forefoot area of the article of footwear; and a protective element engaged with the bottom surface of the second polymeric foam member in the bottom forefoot area, and characterized in that the bottom wall of the first polymeric foam member includes an opening defined through it, and wherein the bottom surface of the second polymeric foam member is exposed through the opening. an upper; and a sole structure engaged with the upper, wherein the sole structure includes a first polymeric foam member for supporting at least a heel area of a wearer's foot, wherein the first polymeric foam member includes: a lateral side wall, a medial side wall, a rear heel wall connecting the medial side wall and the lateral side wall, a bottom wall connecting the medial side wall, the lateral side wall, and the rear heel wall, and an open end opposite the rear heel wall, wherein the first polymeric foam member extends around a rear heel area of the sole structure, and wherein at least a portion of the bottom surface of the first polymeric foam member is exposed; a lateral side wall, a medial side wall, a rear heel wall connecting the medial side wall and the lateral side wall, a bottom wall connecting the medial side wall, the lateral side wall, and the rear heel wall, and an open end opposite the rear heel wall, a second polymeric foam member having a heel portion at least partially received in a space defined between the lateral side wall, the medial side wall, the rear heel wall, and the bottom wall of the first polymeric foam member, wherein a forefoot end of the second polymeric foam member extends beyond the open end of the first polymeric foam member, wherein the second polymeric foam member has a density that is less than a density of the first polymeric foam member, and wherein a portion of a bottom surface of the second polymeric foam member is exposed at a bottom forefoot area of the article of footwear; and a protective element engaged with the bottom surface of the second polymeric foam member in the bottom forefoot area, and characterized in that the bottom wall of the first polymeric foam member includes an opening defined through it, and wherein the bottom surface of the second polymeric foam member is exposed through the opening.