You are doing okay. If Box 2a is blank on your 1099-R form, the taxable portion of your distribution needs to be calculated: Is my distribution nontaxable if Box 2a on my 1099... (intuit.com).
Because you are getting regular monthly payments it is considered a Pension. The annuity question suggests that you put money into the plan. I don't think you did. Therefore, there would not be any "basis" that would be calculated as non taxable.
Finally, the tax withholding that you have in Box 4 will be credited to you on your tax return.
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