Update... After putting it on the ramps I was able to get a better look. There are 4 panels covering the under body, one under each seat essentially. Two are on each side of car. The two pieces on the driver side overlap by about an inch and share bolts at their junction. I removed those bolts and was able to tuck the rear piece (the one with issue) back under the front piece and reinstall the bolts. There's some minor damage, but nothing visible and no tape was required to hold anything in place. The pieces are held together with metal bolts and some plastic bolt like plugs. It looks like 2 of those plastic plugs came off. If I ever find the part number I could order them and secure the piece better, but if seems ok as is. I did have a gash about 3 inches in diameter near one of the outer bolts so I did add some black gorilla tape over that.
Drove 90 miles today at speeds up to 85mph and no issues.