Turn the power off to the dryer (unplug it).
The back of the dryer will have to be removed. Then disconnect the drive assembly and start checking the pulley components. I have included a picture for a Maytag dryer belt routing below. If it is the idler pulley, it will be the pulley shown just below the motor pulley.
If it turns out to not be the idler pulley, it may be one or more of the drum support pulleys around the drum, so check those too. This would also be a good time to check the belt.
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