Is there any way to set collider's skin width?

As in topic. Right now my objects (a car and a roadblock) after colliding bounce back nicely but they end up partially stuck in the asphalt (red lines show the asphalt level):

I heard this has something to do with colliders' skin width but there's no such option in the collider component.

The only workaround I came up with was to scale up all objects so much, that this penetration problem became insignificant. But working in such scale is bad for several reasons.

So how do I change the skin width? Or is there any other way?