For the life of me, I cannot figure out how this goes back. It appears to smooth the contour of the passenger floor as it angles up, but the carpet won't fit once in place.
eBay carries a variety of Firewall Sound Deadening Insulation that can be custom cut and fitted in place in exchange for that Foam Plank if it refuses to behave:
I'll take a guess. There is wiring underneath the carpet in certain spots like under the left rear floorboard. Perhaps this foam is intended to go on top of the wires to offer some protection.