No, from the information you have here you did not over contribute. One way for you to be able to contribute the full amount to a Roth IRA and not concern yourself with the income limitations is to do a BackDoor Roth IRA.
To have this work, you contribute to a regular IRA account (which is not deductible for you due to your income) then you convert it, during the same year to a Roth IRA. By doing this there are no limits based on your income and you can make the full contribution to your Roth IRA account.
Link on how to enter a Backdoor Roth IRA in TurboTax
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