Dar said.. Bit size should be 10mm to 20mm and at least 40mm deep. Even larger is recommended for deep cuts (finboxes etc).
If you're only working with soft foam, I don't think this is such a big issue, there's no where near as much pressure on the bit with soft foam as there is with timber. Just don't press too hard. I've used a 1/4" bit for ages on deep fin boxes without a problem. But if you're removing large amounts of foam a bigger bit is much quicker.