Report the full withdrawal amount in 2023 to match the 1099-R that you receive showing the withdrawal. If you reported the Roth contributions on your prior year returns you will eventually receive letters from the service showing any penalty amounts due for the excess contributions. You will pay them then.
If you did not report the Roth contributions on your prior year returns you will go back and amend those returns and report the contributions. That should trigger the system to charge you penalties for the excess contributions made. You can file the returns with payment for those penalties.
@DiverJudge
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