You first have to pry the cap off the wheel with a screwdriver then under the cap there should be either a pin which you pry off or a nut which you loosen.
Actually, after you remove the cap, you will find a retainer with multiple flanges that holds the entire wheel assembly on the axle. I used a screwdriver to make enough space to get a small wheel puller under it and it slid right off. Then I slid the wheel assembly off and replaced the wheel. The whole process took about ten minutes.
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