NFL Rulebook wrote:
A kickoff is illegal unless it travels 10 yards OR is touched by the receiving team. Once the ball is touched by the receiving team or has gone 10 yards, it is a free ball. Receivers may recover and advance. Kicking team may recover but NOT advance UNLESS receiver had possession and lost the ball.
Even if it was an option to make them rekick, there would be no reason for Baltimore to do so and risk a successful attempt the next time.