What is the authenticity of the hadith that states a Companion was tortured to revile the Messenger, and when he informed the Messenger of this, he said to him: "If they do so, then do it"?

Cursing the religion and the Messenger is an act of disbelief that expels its perpetrator from Islam, except for one who is coerced and whose heart is firm in faith. An example is the companion Ammar ibn Yasir, whom the polytheists coerced into reviling the Prophet and speaking well of their deities. Regarding him, Allah revealed: "Whoever disbelieves in Allah after his belief, except for one who is coerced while his heart is firm in faith."