When you exit the Arrivals Terminal, turn right and you’ll see the taxi booth. All prices are fixed and written on a board. Pay the fee, receive a slip of paper and the taxi driver (wearing a blue and white patterned shirt) will promptly find you. You may pay slightly more than if you negotiate with a private driver, but for the ease, I certainly think it’s worth it!
Note: If you have a lot of luggage or are carrying a bulky item like a surfboard, it may be worth considering a pre-arranged hotel pickup.