Although you can import financial documents from a financial institution, you can't upload a PDF copy of your 1099-R into TurboTax.
If you did import your 1099-R, in the Wages & Income section, scroll down to Retirement Plans & Social Security > IRA, 401K, Pension Plan Withdrawals (1099-R), and choose Add/Edit/Update (depending on which version of TurboTax you're using).
At the 1099-R Summary page, you should see your 1099-R if your import was successful, and you won't need to enter anything additional. If not, choose Add Another 1099-R, and either re-try your import, or 'I'll type it in myself' to enter the info from your 1099-R.
Here's more info on How to Enter Form 1099-R.
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