An article of footwear may have an upper and a sole structure secured to the upper. The sole structure includes a midsole and an outsole. The midsole has an upper surface and an opposite lower surface. The upper surface defines a plurality of depressions, and the lower surface defines a plurality of indentations extending toward the depressions. The outsole forms projections that extend into the indentations of the midsole, and the outsole has grooves located opposite the projections.