Update
I took my 99 Acura to a local shop who works strictly on import cars. They recommended replacing both lights since the xenon lights start to "yellow" over time. So, for 2 lights ($123 each), labor and taxes, $370. They did not have to remove the bumper, but according to the mechanic, they took every else out to get to the headlamps.

Will someone be sure the thank the engineers at Acura for me for such a wonderful design!