You are going to have to remove the door panel and then you will see how the handle comes off.
Here is a video on a 2001 Camry that is similar:
Also, here is a guide that will help with removing the door panel that will give step by step instructions on how to do this:
Below is the info from the manual that will help with this as well.
Please run through this material and let us know if you have other questions. Thanks
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Monday, May 24th, 2021 AT 3:32 PM