In fl, if two vehicles are in an accident and both leave, who is required to pay what?

I had a minor accident involving a motorcycle that hit my car as I was leaving a parking lot (neither of us saw each other. He was coming around a bend in the road). We didnt call the police as no one insisted. He doesnt have insurance as he claims he doesnt need it since he owns his vehicle. He says that the damages will require $400 in replacement parts. I havent assessed my vehicle yet though (although the damage is minor). Are we both required to pay each others damages? Do we just pay our own damages? Should I contact my insurance company?

Im looking for some advice, im not sure what to do here :/