penalty for underpayment of estimated tax

I will owe about $6000 in federal tax for 2020. The income is from IRA conversion, social security, and dividends. I neglected to make any quarterly estimated tax until now. I have scheduled a payment of $6500 for this quarter. How will the underpayment be calculated, when is it determined, and when do I pay? Can I just let the IRS notify me? If so, are they prompt?