Hope I am not being too technical but the insulation under the slab needs to meet the ATSM specification C578 for "Rigid, Cellular Polystyrene Insulation"
There a two categories of material under that spec,
Expanded Polystyrene, aka "EPS"
Extruded Polystyrene, aka "XPS"
and within both those categories are seven different classification types,
http://docserver.nrca.net/technical/9997.pdf
See the attached link above for the specified compressive strength of each of those materials. This shows you the 10,15,25,etc. psi materials
See Table 2 on page 5 of the link above provided by Franz1.0c,
They don't come out and say it but it looks like they do not recommend C578 EPS Type I (10 psi) since it isn't even shown in the table. It also looks like they do not recommend EPS Type II (15 psi) either since the allowable bearing capacity column is left blank for that one.
So looking at table 2 it would seem at a minimum you should be using EPS type IX (25 psi material) or XPS Type IV (25 psi material),
So say you use 25 psi material, how much load should it really be subjected too? Well 25 psi x 144 sq in/sq ft = 3600 psf but that it is for short term loading. Should you have long term loading such as the dead weight of the slab, structure, pallet storage, etc, then you should have a factor of safety of 3.0 to cut down on the permanent long term deflection/compression of the insulation,
So, 3600/3.0 = 1200 psf (8.3 psi) which conveniently comes out to the same allowable bearing capacity shown in table 2!
Now don't know your loading on the slab so can't comment on whether on not the 4" slab is strong /stiff enough to limit the bearing stress on the insulation too 1150 psf (8.3 psi) but for normal garage loadings I doubt it is a problem.
After all that

I wouldn't be putting anything in less than 25 psi material.
Also table 2 shows you the Max Effective R-values for different types based upon vertical or horizontal installation. This may help you determine thicknesses and type to be used to also satisfy any thermal requirements.