Tides gradually reduce the internal kinetic energy and gravitational potential energy of the Earth-Moon system, that is, the speed and height of the Moon's orbit.
Whether or not humans extract some electricity from it along the way, the same amount of energy per tide ends up as random thermal internal energy in the materials that make up the Earth and the Moon. The Earth and Moon are doing work on each other; harvesting tidal energy lets us redirect a tiny fraction of this work to our own purposes before it ends up dissipated as heat.
The energies available are exceedingly large relative to the energies dissipated.
Our Moon is actually on a (very, very slow) outward spiral. The energy dissipated by tides on Earth and on the Moon (which lacks water, of course, but rock still deforms a little bit) acts to counteract this. If the Earth-Moon system were left alone forever, tidal energy dissipation would eventually stop the outward spiral and begin an inward spiral, eventually ending either with the Moon crashing into the Earth or perhaps developing an orbital eccentricity that eventually would result in the moon being captured by another body's gravity and leaving Earth forever. I haven't seen the calculation, but the estimate I've seen projected for time at which the outward spiral would stop and the inward spiral would begin is about fifty billion years from now, with collision or ejection at about 65 billion years. https://en.wikipedia.org/wiki/Timeline_of_the_far_future