Shown after removing the cable from the handle and the white plastic collar from the bracket. The door panel should now be free of the car. Keep pulling straight out to release the plastic fasteners, and note that it goes into the window channel at the base of the window.
These are the tools I used. A T30 Torx and a #2 Phillips are required. A right angle Phillips if you can't get the door open. I used the straight blade screwdriver for prying though you're supposed to use something else.