Grab the protruding seal with a pair of priers and pull it out. You can ride the bike without. The thing is though, they are put in for a reason. There will be a build up of crap in the gap left, especially this time of year. You will find that your brakes will bind more and more often. Best to bite the bullet and overhaul the calipers. It ain't difficult but it can be fiddly, especially if retaining pins etc have become seized in the caliper.
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