This answer requires only that you know your local energy costs, your RPi's rate of power consumption, and simple math.
Your local energy costs
Electrical energy costs vary considerably by season and by location. Since you didn't tell us where you live, we'll use this source's estimate of world average price of 0.14 U.S. Dollar per kWh for households.
Your RPi's rate of power consumption
Since you didn't tell us how much energy your RPi consumes, we can use the RPi Foundation's estimate of 600 mA for "Typical bare-board active current consumption" for the RPi 4.
Simple math
In the dc case, electrical power ("P") consumption is the product of voltage, and current:
P = V * I
Energy ("E") is the product of power and time (or the integral/sum over time if power is not constant during the time period of interest):
E = P * T
And that leaves only the multiplication and conversion of units to obtain the annual Cost ("C"):
C = 5 volts * 0.6 amps * 24 hrs/day * 365 days/year * $0.14/kwh * .001 wh/kwh
C = US$ 3.68 per year
To put that in the form of a range of values based on data from this source:
US$ 1.58/yr < C < US$ 9.20/yr