To minimize this from happening you might consider having
Opti-Guard Leather installed. It was designed for this exact purpose. See the video I made about it below.
However, to clean your seats effectively and safely in the meantime, use the lightest cleaner possible and work your way up in strength as needed. Too many people pull out the big guns first and either damage their seats or scrub too hard and damage the stitching. Also realize the some blue dyes are permanent so you might only be able to lighten the stain. Know when to stop. If the following method does not work, just stop and either live with it or contact a certified
IDA Professional in your area.
This is the order we professionally clean blue-jean dyed white Tesla seats:
Opti-Coat No Rinse diluted 255:1 (one ounce in 2 gallons of water)
Opti-Coat Fabric Clean and Protect straight from the bottle
Opti-Coat Power Clean diluted with 9 parts water.
With each step just dampen a microfiber towel with the product and scrub lightly, being mindful of the raised stitching on the side bolsters. Let the product do the work, not your muscles.
Those Opti products are only available from certified Opti installers or from the links I provided.
Good luck!