Travelling to US with a Criminal Record

Hello, we are due to travel to Florida next April and we have one member of our family who has a criminal record for Outraging Public Decency. They were sentenced in 2017, and served 80 hours of community service, in addition to a fine.

Under the ESTA Application, it asks "HAVE YOU EVER BEEN ARRESTED OR CONVICTED FOR A CRIME THAT RESULTED IN SERIOUS DAMAGE TO PROPERTY, OR SERIOUS HARM TO ANOTHER PERSON OR GOVERNMENT AUTHORITY?"

Would it fall under any of those? To my knowledge, no, as that relates to Moral Turpitude that they consider in the US. But am looking for professional advice whether we can get with an ESTA for them? Or they need to go through the Embassy?

Thanks in advance.