Add a new washer (same size as the oil drain plug washer) and plug, then replace the oil through the filler plug. Aluminum crush washers are used on the engine oil, transmission, and differential oil drain plugs. All crush washers are the same size (part number 9956-41-800). Oil should be added to the level of the filler hole. Filling can be accomplished under the car using a hand pump.
Torque Specifications
Differential drain plug: 39-54 N/m, 4.0-5.5 kg/m, 29-40 lb/ft
Differential fill plug: 39-54 N/m, 4.0-5.5 kg/m, 29-49 lb/ft
Changing the Rear Differential vent
Detailed instruction is found on Miata Net.