Been awhile, confused front with rear. Fronts have two 10mm bolts that hold the bracket (glass channel) to the regulator, on rear door regulators IIRC the plastic wheel just slides in and out of the channel that is attached to the glass.
As mentioned above, all window glass is grabbed at the bottom by the U-shaped channel that holds onto the glass by "pinching" it, the filler acts like a cushion between the glass and the channel.
If the plastic wheel is coming out of the channel then something is out of whack, ie: glass channel coming loose from the glass, regulator coming loose from the door, motor coming loose from the regulator, regulator arm bent, plastic wheel worn/damaged, etc, etc. Just need to get in there to see what's not right.
IME the cause should become apparent as soon as you have the door panel removed ie: by running the window up and down while checking the various components for binding, wobble, looseness, etc.