In this study we explore the use of solid-state nucleation in pellets as a means to decouple cell nucleation from cell growth in extrusion. This is achieved by feeding the extruder with gas-saturated PLA pellets. Cell nucleation occurs, similar to that of the well-studied solid-state batch foaming process, when gas-saturated pellets are crushed and heated in the feed section of the extruder. The polymer melt consequently contains the nucleated cells. Further, the gas content in the pellets provides a means to deliver a controlled amount of blowing agent for cell growth at the die exit. It was found that gas concentrations in partially desorbed pellets offers greater control of part density and foam morphology compared to that of fully saturated pellets at 2 MPa. Using Design-of-Experiment statistical methods it was found that gas concentration in the polymer was the most significant variable influencing foam density, whereas the extrudate cooling method was found to control cell size.