Yes, you can view records of previous tax withholdings on Activity. You will also receive a confirmation email that contains a breakdown of the amount withheld, including state vs. federal withholding, and the amount being sent to your linked bank account.
A 1099-R tax form will also be generated by January 31 of the following year, which will show your IRA state and/or federal tax withholding total for the year.
Betterment is not a tax advisor, and the information provided here should not be construed as tax advice. It should only be used for informational purposes. Please consult a qualified tax professional to determine the rules that apply to your individual tax situation.