Required to pay quarterly estimated taxes?

Hi there! Trying to find out if we are **required** to pay quarterly estimated taxes after a year where I went back to work and my spouse had a larger-than-usual bonus. We also claimed too little on our W4s, overall causing us to underpay in 2022. We've adjusted our withholdings to have more taken out and my spouse's bonus will be less than a quarter of last year's amount. We were given vouchers with our TurboTax return to pay quarterly; do we have to pay the quarterly amount or risk a penalty? Thanks.