I know the typical press/squeeze in board way, but my door doesn't have the lips to hold the boards in? Would some sort of glue work, or is there something else to use I don't know about? Thanks.
On my wooden garage doors, I used 1" polyisocyanurate foam board (with the foil face) and attached them with large plastic washers that are used in the HVAC industry. You should be able to buy them at a supply house. Here's the site where you can see them. They're also slightly cupped which helps press the insulation onto the garage door.