How much to pay for estimated tax

I'm currently self employed through instacart and doordash and I know I am supposed to make estimated quarterly tax payments. This is my first year working through these and I have no idea how much I am supposed to pay for estimated quarterly taxes. I've already missed the first 2 deadlines and would like to make the next 2 on time. However, I have no idea how much I should pay. I see that I can make these payments directly on the IRS website. Is it okay to make a guess for payments? Or does it have to be exact?