It sounds like your 1099-R is correct. The $0 in the taxable amount box would make sense given the amounts that you have indicated and while it's a bit confusing it's also common for the "taxable amount not determined" box to be checked.
Having that box checked essentially means the company is shifting the burden to you - even though they provided an amount in box 2.
You are likely to find the insurance company won't correct the 1099-R for this issue, and it won't cause any problems when you file.
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