Looks superficial. Multiple threads on and off here showing far worse rear quarter panel and rear structural damage, deep into the trunk tub and beyond.
I would say get Tesla to replace the bumper skin with an OE pre-painted part and have a good body shop (but in this particular case NOT a Tesla certified body shop) address the quarter panel with some targeted metal work and blend respray. Might even venture PDR route once the bumper skin is off and access made easy by removal of the trunk liner and sub (if present).
If you have Tesla or a certified Tesla body shop fix it, they will go by the book and cut and replace the entire quarter panel, including new c pillar window, and portion of the rocker panel. Not worth it in this case.
Looks like about $1-2K in parts/labor if done smart.