A sole structure for an article of footwear, comprising: a first midsole body defining a ground-facing surface and a foot-facing surface opposite the ground-facing surface, wherein the first midsole body includes a first midsole material, and the first midsole material has a first hardness; a second midsole body extending through the first midsole body such that the second midsole body extends beyond the ground-facing surface of the first midsole body, wherein the second midsole body includes a second midsole material, the second midsole material has a second hardness, and the first hardness is greater than the second hardness, the second midsole body includes a main body portion, a first body protrusion extending from the main body portion, and a second body protrusion extending from the main body portion; an insole disposed over the first midsole body and the second midsole body, wherein the insole defines an inner insole surface and an outer insole surface, the inner insole surface faces away the first midsole body, the outer insole surface faces toward the first midsole body, and the insole defines a plurality of openings extending through the inner insole surface and the outer insole surface to partially expose the second midsole body, wherein the plurality of openings includes a first opening disposed at the sole heel portion and a second opening disposed at the sole forefoot portion; wherein the first body protrusion extends from the main body portion into the first opening, and wherein the second body protrusion extends from the main body portion into the second opening; and wherein the first body protrusion and the second body protrusion are flush with the inner insole surface. a first midsole body defining a ground-facing surface and a foot-facing surface opposite the ground-facing surface, wherein the first midsole body includes a first midsole material, and the first midsole material has a first hardness; a second midsole body extending through the first midsole body such that the second midsole body extends beyond the ground-facing surface of the first midsole body, wherein the second midsole body includes a second midsole material, the second midsole material has a second hardness, and the first hardness is greater than the second hardness, the second midsole body includes a main body portion, a first body protrusion extending from the main body portion, and a second body protrusion extending from the main body portion; an insole disposed over the first midsole body and the second midsole body, wherein the insole defines an inner insole surface and an outer insole surface, the inner insole surface faces away the first midsole body, the outer insole surface faces toward the first midsole body, and the insole defines a plurality of openings extending through the inner insole surface and the outer insole surface to partially expose the second midsole body, wherein the plurality of openings includes a first opening disposed at the sole heel portion and a second opening disposed at the sole forefoot portion; wherein the first body protrusion extends from the main body portion into the first opening, and wherein the second body protrusion extends from the main body portion into the second opening; and wherein the first body protrusion and the second body protrusion are flush with the inner insole surface.