TimescaleDB itself doesn’t support logical replication on hypertables, because logical replication in Postgres doesn’t work with DDL commands. In particular, you are subscribing to logical changes on a specific relation/object, which is an individual chunk. While a hypertable actually is comprised of many chunks, and those chunks are created automatically (DDL) when you try to insert into a region of hypertable that doesn’t exist before.
So with that said:
You can use Debezium into TimescaleDB, where vanilla Postgres (or something else) → Kafka → TimescaleDB hypertable storing events
You can’t use Debezium out of TimescaleDB, where you are trying to track changes to TimescaleDB hypertables, due to the above limitation around Postgres logical replication.