I don't like the sound of it at all. You may, of course, contact the office at its listed phone number to be sure, but this .is not how things are done.
I didn't call the number, but it does not sound as though a message that the State of Florida would ever leave. If it turns out to be a bill collector, you may have legal rights and remedies related to the phone call under the Fair Debt Collection Practices Act.
Likely a scam. The state of Florida generally calls from a Tallahassee area code number which is 850- I doubt the state would call FROM a toll free 866 number.