Missed estimated payments, should I just pay total to date?

I have very uneven income as self employed consultant. There was no income for first half of year, but now I have several invoices paid and so will owe tax at the end of year. I missed my estimated payments, so what is the best approach? Should I just pay IRS all due, e.g. calculate new estimate and pay combined for 1-3 quarter of 2021?