My former employer essentially ignored tips. No reporting. What should I do?

I used to work for a large company where employees frequently received tips. These tips were essentially ignored by the company. I was never asked to report tips. I'm not aware of any system within the company for reporting tips. If I had asked about reporting my tips, I believe I would have been told not to worry about it.

How serious is this? I know I need to report the tips now on my return. I did approximately keep track throughout the year.

Form 4137 advises me to include a statement with my return explaining why I didn't report the tips. If I describe this situation to the IRS, will I get into trouble? Will they look into the company? Am I guilty of wrongdoing? I didn't willfully neglect to report my tips, but I definitely didn't realize the importance of it in the moment.