It depends. If box 2a is empty on your 1099-R, TurboTax considers the entire distribution from your pension to be taxable. If you know the taxable portion of your distribution, you should enter it. However, do not enter on this screen unless you know the taxable amount.
In most cases, the Simplified Method should be used to calculate the taxable portion of your distribution from a pension.
If you would like to more information on the calculation, please see Worksheet A in IRS Publication 575. Worksheet A is found on page 47 of the attached PDF hyperlink.
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