Do I need to pay the estimated taxes for 2024 after filing my taxes and paying federal taxes for 2023? TurboTax generated 4 form 1040-ES vouchers due to sell of a rental.

I sold a rental property in 2023.  I reported the sale based on the information on Form 1099-S in TurboTax.  I ended up paying $9914 in federal taxes via Direct Debit.  

After reviewing my tax returns, I noticed TurboTax said I have to make 4 estimated tax payments for 2024 and attached the 1040-ES vouchers for reference.