The bulb in the LCD display is PN 90010-09017 (you need 1 ea.). The bulb for the controls is PN 90010-09015 (you need 2 ea.). My local dealer (SLO, CA) got $4.50 ea. from me for them yesterday. I couldn't find them cheaper online.
As someone noted above you might be able to get just the bulb part from Radio Shack and swap them out on the Toyota housing/base.
To remove the panel and get to them you have to open (or remove) the tray below the panel, remove the screw there, and the whole panel just pulls straight out (don't pull too far before disconnecting the plug). The lights are accessed pretty easily - I found a small probe magnet helpful for pulling them out of their holes once I 'unlocked' them with a small screwdriver (about 1/4 turn).
It took me about four minutes to replace three bulbs including putting the panel and screw back in.