For anyone who may find this thread with a similar problem, I did manage to get this fixed this morning. You don't necessarily HAVE to remove the shroud around the steering wheel to do this, but it sure helps access the nut and bolt you need to do the adjustment on. Removing the black steel support bar under the column is also a big help.
What I learned is that attached to the lever itself is a bolt that goes across the steering column, and is held on by a 9/16" nut. What I had to do was completely remove the nut, then using a channel lock pliers (any kind of pliers will work so long as you can get at the bolt), turn the bolt itself counter-clockwise. This applies pressure to the lever by drawing it closer toward the steering column. Make sure to not over or under tighten it...play with the different up/down positions of the wheel and the lever while turning the bolt until there is just the right amount of tension. Once you find the sweet spot, put the nut back on and re-tighten...being careful not to turn the bolt back in while doing so or it will loosen the lever back up.
Below is the blow up from the fsm that max posted a link to. The nut to remove is #10, and the bolt to turn is #8:
