Add a pre-step where you install the missing package via pip in your playbook https://docs.ansible.com/ansible/latest/collections/ansible/builtin/pip_module.html
The better solution would be to create an execution environment that has your dependencies pre-installed. https://docs.ansible.com/automation-controller/latest/html/userguide/execution_environments.html?extIdCarryOver=true&sc_cid=701f2000001Css5AAC