When adding a widget that does not have a default title, the HTML markup for .panel-body is not used.
This is because the opening tag for .panel-body is appended to the end of the 'after_title' argument as part of the 'genesis_register_sidebar_defaults' filter arguments.
Fixes?
Conditionally add the .panel-body to the 'before_widget' argument if no title is present. If the title is present then the markup is fine as it stands.
This method would also remove the need for the following code from widget.scss
// Handle the missing padding from .panel-body when no widget title is used
> .search-form {
padding: 10px 15px;
}