damaged front lip - is there a part # or it's a bumper replacement?

Toyota’s catalog has a better illustration: Figure 53-01, Radiator Grille, shows the radiator grille sub-assembly, with part name code 53101. For model year 2017, the part number is 53101-47041 for cars, such as your Prime Premium, without Intelligent Clearance Sonar (ICS); with ICS, it’s 53101-47052. Either way, no paint is required.

The front bumper assembly isn’t sold as a service part: as shown in Figure 52-01, Front Bumper & Bumper Stay, it’s assembled from the right and left front bumper extensions, the radiator grille sub-assembly, and other parts.

 

Depends how bad it's dented. But that's the grill. To replace it is about 4-5 man hours at most shops plus there is a one-use seal you need to replace each time the bumper is removed.. Make sure that the piece behind it isn't hurt because that can make the difference between 1k and a 2.5k repair at the shop.