Yeah, it will come out with heat. The longer it's been that way, the harder it will be to repair. You can shrink and lower the high ridge around the dent after you pop it out by heating, pushing, and quenching. I wear gloves, and use a large screwdriver handle to massage or poke around areas that need work while the plastic is hot. Eliminating the high areas is the key to a good repair, just like with metal.