Are PA taxes owed for 401k withdrawal if under 59.5 but no penalty due?

PA resident who left job at age 55. At 57 took a withdrawal from my 401k plan which had remained with former employer. No penalty due for early withdrawal but do I owe PA state taxes since not yet 59.5? Taxes were paid to PA when the money was put into the 401k. Basis much higher than amount taken out. Aware owe taxes to Feds.