Depending on how tough that foam is a plastic putty knife could knock some off without scratching up the inside. If you're not worried about scratches then a metal putty knife may work even better.
As far as cleaning products if you're not planning on storing food in it and have time to let it air out this stuff from home depot will remove any adhesive (and paint from many things):
View attachment 49981
https://www.homedepot.com/p/Pure-Citrus-4-oz-Orange-Air-Freshener-NA222/202528023
Yes it's an air freshener but we use it at work to take off industrial strength double sided foam tape, 3M tapes that are touted as "non-removable" along with paint and thin powder coating from metal parts. It's listed as "non-toxic" but I'm sure that's when it's used for it's intended purpose. We generally spray it on whatever we're removing, let it sit for 30 seconds to a minute and then wipe or scrape the adhesive off. It does leave a bit of a greasy residue but that cleans up with a little soap and water.