The generic way is to use an intermediate value theorem.
Since this is a polynomial - it is a continuous function, therefore between two arbitrary points $x_1 < x_2$, s.t. $f(x_1) < 0 < f(x_2)$ (w.l.o.g.) there exists $x_1 < x_3 < x_2$ and $f(x_3) = 0$.
Moreover, between any two zeros of differentiable function there is a zero of its derivative.
We have : $f(0) = -10$ and obviously for some large and small $x$ $f(x) > 0$, i.e. $f(1000) > 0$ and $f(-1000) > 0$. Therefore there are at least two zeros.
$$f'(x) = 4x(x^2 - 3x + 2)$$
We can check that it has three zeros ($x = 0, x=1$ and $x =2$).
Since the function is positive at "infinities", but its derivative is a polynomial of third degree (i.e. negative at $-\infty$) we conclude, that $x=0$ is a local minimum of $f$. Subsequently $x=1$ is local maximum, and $x=2$ is local minimum once again.
By checking directly the value of the function at local extremes:
$$f(0) = -10 \\ f(1) = -9 \\ f(2) = -10$$
we establish no zeros are present in $[0, 2]$
Hence there are exactly two zeros of $f$ on $\mathbb{R}$. One on $(-\infty, 0)$ and one on $(2, \infty)$.