TPA2016D2: Changing device i2c address to accommodate two same devices in the design

Part Number: TPA2016D2

Tool/software:

I have a pcb design with two TPA2016D2 devices on board. Having separate i2c busses is not an option here. I only have one i2c bus.

PDF clearly states that the i2c address can be changed, but it doesn't say how.

So, how to change one's address to accommodate two devices?