Form 1040-ES estimated tax amount is lower than that I should pay

My 2022 tax filing with TurboTax attached 4 payment vouchers for 2023 Form 1040-ES.

However, the payment vouchers
 specify an estimated tax amount that is lower than that I should pay, especially in Q1 2023 due to bonus payout.


My company already withheld more than the amount specified in the payment vouchers, but per my calculation, I will still owe a few thousand dollars. Do I need to pay the remaining estimated taxes to avoid penalty?

Or is it fine to not do so as long as my company withholds the amount greater than that specified in the payment vouchers during each quarter?