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I'm pretty sure that on OBD2 cars (post '96) one sensor is in the exhaust prior to the catalytic convertor and one is post cat. I think the pre-cat one is more likely to go bad...unless you did something to screw up the cat and the second one doesn't like what it sees...but that's unlikely in car as new as 2004 unless you've been running leaded gasoline.
Since it's made to be somewhat easily replaceable, once you locate where the sensor is screwed into the exhaust it shouldn't be hard to find where the wires terminate and then remove and replace.
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