This is a common practice.
First a proper heat load. The heat load determined by measuring the square feet, room height, windows and doors. The R-value for each is put into a dedicated software program.
Each area of the country has a different outdoor design temperature. You decide what the inside design temperature will be. For instance, in your home the inside design temperature would likely be 70°F. We design most residential garages 50°F.
The difference between inside and outside design temperatures is one of the main components of a proper heat loss. This information along with your local heat source and fuels help determine the best way to invest in insulation both below the slab and in walls, doors and ceiling.
The colder the climate and/or the more expensive the available fuel, the more you want to insulate and the more time you want to spend on the heat source and controls.
It is a good idea to tube any slab as the PEX tubing and insulation is least of any radiant floor heating system and hard to do after the cement is poured. We call it "Radiant Floor Ready"®.
You will insulate below the slab with solid foam "XPS" 25# is accepted for commercial type installations. Both the heated and unheated areas will be insulated with a thermal break between the two. I normally will not require a thermal break between an office and a shop.
We place a 6mil vapor barrier on compacted soil, the foam, staple PEX to foam and add flat wire or rebar before pouring cement.
Now I will let the other weigh in but remember the basics.
This is what a proper Manual 'J' heat analysis looks like.