From https://www.irs.gov/individuals/international-taxpayers/delinquent-fbar-submission-procedures#:~:tex...

The IRS will not impose a penalty for the failure to file the delinquent FBARs if you properly reported on your U.S. tax returns, and paid all tax on, the income from the foreign financial accounts reported on the delinquent FBARs, and you have not previously been contacted regarding an income tax examination or a request for delinquent returns for the years for which the delinquent FBARs are submitted.

Read the entire document. There are instructions to follow.