My first year self-employed, but employer didn't pay my invoices until the end of the year

This is my first year as an independent contractor.  I knew I had to pay self-employment taxes but decided I would wait until I got my first pay check before I worried about paying taxes.  Unfortunately, even though I started working in April of 2022 and put some hours in each month after that, I didn't receive my first pay check until January of this year (dated Dec 23, 2022).  Should I have been paying the taxes each quarter even though I had not received the income yet?  I assume now I need to make tax payments for all of April thru December, but will I owe penalties also?