The roots of polynomial $ p(x) $ are:
$$ \begin{aligned}x_1 &= -0.1778+0.947i\\[1 em]x_2 &= -0.1778-0.947i\\[1 em]x_3 &= 2.1778+4.2282i\\[1 em]x_4 &= 2.1778-4.2282i \end{aligned} $$Polynomial $ x^4-4x^3+22x^2+4x+21 $ has no rational roots that can be found using Rational Root Test, so the roots were found using quartic formulas.