Did not know how to file an estimated tax form for 2023 as I did not file 2022 taxes

I never filed an estimated tax form for 2023 as my self employed taxes for 2022 have not been completely filed. I had an addition to my business in my 2022 tax year. Can I retroactively file an estimated tax form in order to catch up on 2023 estimated taxes? Will I be penalized?