My dealer body shop did a paintless dent repair for $150 including some other touch-ups. In the end they didn't charge me due to taillights cutting into the paint and did it under warranty. You could try the warranty route if you have any other issues and see if they'll throw it in or at least reduced price.
One of the few times I've had to park the ST next another vehicles in a parking lot a few weeks back, a large Tahoe that was next to my car and had a few feet clearance still managed to slam their door into my driver's door and left a half dollar-sized dent and scraped up the paint. Like suggested a paintless dent removal followed by a paint touch-up/blending would probably be the most cost effective and what I'm going to try (assuming they can access the dent since it is pretty close to the rear edge of my door).
When my car was 15 minutes old I got hit in the driver rear door with a football. The guy that threw it them yelled at me and told me I shouldn't have been on the road. They were throwing over the road... No dent though Thank God.
I was too pissed to think of picking up the frisbee. But thanks everyone for the suggestions. I don't think the dent pullers or paintless dent removal will work because there is a good bit of paint missing (like 0.5in by 1.5in).
I will be getting a quote next week sometime and will update with the findings, cost and pics... :/