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2016 Model S liftgate gasket replacement

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I tore a chunk out of the gasket on the liftgate of my wife's 2016 Model S when loading something into the back of it, and I'm not entirely sure how to replace it. The Model S service manual says:

Removal
  1. Open vehicle liftgate.
  2. Release tailgate seal from body and carefully remove.
Installation
  1. Installation procedure is the reverse of removal

So...is the gasket like a normal car and is in a channel with adhesive (so I'd just yank it out, buy a new gasket, and glue it in place) or some Special Tesla Thing? I can't find any other documentation or posts about replacing it, and assume it's easy and not worth whatever Tesla Mobile Service would charge me to have them do it.