An article of footwear includes a sole structure. The article of footwear further includes a first member that extends away from the sole structure. The first member at least partially defines a medial side and a lateral side of the article of footwear. Moreover, the second member has a body, a first support arm, and a second support arm. The body is attached to the first member such that the first member and the body cooperate to define a void that is configured to receive a foot. The body is also attached to the sole structure. The first support arm is attached to the first member on the medial side, and the second support arm is attached to the first member on the lateral side.