That's quite a bit of moisture on the interior of the lens. If it sits for any length of time it can cause corrosion of the mirroring on the lamp reflectors.
The light units can be opened up to get to the interior but you will need to remove the light assemblies from the car and using a heat gun (paint stripper type) you can soften the sealing mastic that holds the two halves together and carefully prise them apart. It would appear that moisture is building up inside because either there is a fault with the sealer or incorrect seating of the bulb(s).
Unfortunately you need the front bumper off to get to the light fixings. It isn't a difficult job but the front undertray fixings are sometimes seized.
At the same time it will make the changing of bulbs very much easier with the light assemblies off the car.
The 2 vids below should help. Although the second one is about replacing the levelling mechanism it clearly shows how to seperate the two halves.
Removing light assembly:
Seperating both halves:
Hope the vids help.