Can the door armrest be removed?

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2008 CX-9
My 2008 driver door armrest padding has gone flat where I put my elbow - Twice. The dealer said they had to replace the whole door panel because the armrest wasn't a separate item they could order. They did that under warranty last year, but it has gone flat again where I put my elbow. The car isn't under warranty anymore. I'm thinking of taking it off and seeing an upholstery place can put in some higher quality foam. Anybody know if it can be popped off the door panel?
 
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