How to customize Undertow thread pool size in Spring Boot application

Issue

I'm using Undertow instead of Tomcat as an embedded servlet server for Spring Boot:

    <dependencies>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-web</artifactId>
            <exclusions>
                <exclusion>
                    <groupId>org.springframework.boot</groupId>
                    <artifactId>spring-boot-starter-tomcat</artifactId>
                </exclusion>
            </exclusions>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-undertow</artifactId>
        </dependency>

        ...
    <dependencies>

How do I customize Undertow thread pool size in Spring Boot application?