Someone hit my car and ran away

Something unpleasant happened. Someone hit and ran my parked car in Denver and left a few scratches on the bumper. They are not deep, and the bumper looks okay. I parked off the street, but I don’t know if any nearby houses have cameras that could show the other car.

Should I contact the police or my insurance, or is it not worth it? I only have a liability policy. What are the chances police would actually investigate if I file a report?