There are multiple safe harbors at the federal level. One is if you owe less than $1,000 when you file next year, so you will probably avoid underpayment penalties on that basis as long as you make estimated payments that get you within that $1,000 range.
Worst case: with MFJ and $45,000 in taxable income, you would be able to subtract your standard deduction of $25,100, which would leave you with a taxable income of $19,900. The first $9,950 of that would be taxed at 10%, so $995 there. The remaining $9,950 would be taxed at 12% for $1,194. $2,189 total. Depending on the age of the dependent, you'll qualify for at least a $500 "other dependent" tax credit, so that would drop you to $1,689.
The previous paragraph gets better if you or your spouse are over 65, if either of you are blind, if you can itemize, if you give to charities (up to $600 for MFJ for 2021 is subtracted as an adjustment), if you contribute to HSAs, how much of your dividends are qualified, if the dependent is under 17 at the end of this year, and probably some other things I didn't think of.
So you can send in an estimated payment of $690 and that would get you under the $1K safe harbor limit. You can do that once now, or split it up over the remaining three estimated payment periods. You'd probably want to do more than that rather than rely on my back of the envelope calculations (although I do volunteer tax prep and I'm fairly good at it).
Since I know you're in Idaho and I've researched this before, Idaho has no underpayment penalties and so there is no need to make estimated payments to the state. Just pay whatever you owe by 4/15/2022 and you'll be fine (although it may be a large check depending on your tax situation).
But for Idaho, a safe estimate of your tax liability would be 6.925% of your AGI, which would be that $19,900 number or less, or $1378. It'll probably be significantly less than that because there are some small brackets at lower rates, and also you probably qualify for donations to the IYR and maybe deductions for OOP medical premiums, and maybe even interest from government obligations. Your retirement income may be a subtraction as well, and any Idaho 529 contributions will help also.
HTH, good luck.