As a follow up did you owe the IRS last year? If you did the software will generate vouchers that will show you an amount to send in an amount quarterly. If you did not owe the IRS then you probably were not assessed a penalty. Moving forward it's best to make those quarterly payments that you estimate will be owed.
https://turbotax.intuit.com/tax-tips/small-business-taxes/estimated-taxes-how-to-determine-what-to-p...
https://ttlc.intuit.com/turbotax-support/en-us/help-article/tax-forms/1040-es-estimated-tax-vouchers....
