I was initially frustrated at the apparent lack of a ready-built package for customizing the Yubikey for any Linux distro other than Ubuntu, until I found out that you can use a VMware virtual machine to do it.
First, download the Windows personalization tools from:
Next, open the .vmx file of your Windows VMware image in your favorite text editor
Add the following line at the end of the .vmx file:
usb.generic.allowHID = "TRUE"
Save the .vmx file and start the Windows VMware image