No, "lesser" can not be substituted for "less" in your example sentence, because they have different meanings. "Less" normally means a smaller amount. According to M-W, "lesser" means:
of less size, quality, degree, or significance : of lower status
For example, it is common to choose the "lesser" of two evils, but it would be quite unusual to choose the "less" of two evils. (It is possible to say that, but the meaning would be a bit different.)
This might seem confusing, and in practice, it may not always be easy to distinguish between "lesser" and "less". Nevertheless, they are not exact synonyms. If it helps, you can think of "lesser" as the opposite of "greater" and "less" as the opposite of "more".