It would be unusual for Preview to lose annotation content as it autosaves every change to the originally opened PDF — unless the autosave capability was manually blocked in System Preferences : General. Unlike Pages, it does not feature a Revert To option to recover past changes.
Use your Time Machine Restore capability (Dock : Launchpad : Other : Time Machine) to search backwards in time for this PDF, inspecting the PDF with Quick Look to determine the maximum annotation recovery timeframe, and then select Restore.
Without Time Machine, saving copies of this PDF to alternate storage, or recovering the PDF that you may have shared with others, there is no recovery process for lost annotations in a given PDF.