Lost one fob, have replacement, do I need to reprogram the car so the old fob no longer works?

Hi all, I have a 2007 Prius with a lost fob. The fob was probably lost in the neighborhood so I’m worried about the car getting stolen, not a rare occurrence in my area. I have one working fob, and I’d like to program an additional replacement. Can also I reprogram the car such that the lost fob no longer works? Do I necessarily have to go to the dealership? I was quoted $540 for replacement and reprogramming.