Don't need to go to methylene chloride (paint stripper main ingredient) to get rid of styrofoam. Lots of things attack it, including JB Blaster penetrating oil. I would go at it with that stuff and a brush before using a solvent that will certainly soften the finish underneath (though I can't guarantee the JB blaster won't do that, too; it depends on that finish). Acetone would be the fastest evaporating thing to remove the styrene.
The question will be whether it has bonded with the grip panel finish, in which case you are going to be faced with removing the original finish? If this is a collector's item for you, you may not want to do that, as collecting value is often higher leaving the defect (the foam in this case) in place, and the finish original. If you are going to shoot it, rather than collect it, then refinishing isn't a bad option. If you are going to collect it, but it has been shot already and you just want to try it out, put a different pair of grip panels on it to preserve the collector's value of the originals.