You can achieve this result without using python libraries like pandas. Below syntax will split the category_list column by vertical bar (|) into separate columns.
df.set_index('permalink').category_list.str.split('|', expand=True).stack().reset_index('permalink').rename(columns={0:'category'})
Then you can save this CSV file using pandas library as:
pd.to_csv("file_name")
OR
You can do this in another way, Follow the below steps:
Step 1: Open the file in MS Excel
Step 2: Go to the Data tab
Step 3: Click on the Text to Columns option
Step 4: Select Delimited
Step 5: Set | or any other desired character to be the field separator/splitter
For more detail about Tableau data source check tableau tutorial.