Does a taylor polynomial always have a non-zero remainder?

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A bit of a silly question but it isn't really covered in my book and can't seem to find this question anywhere.

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Assuming that we are dealing with a smooth function $f$ here, if $n\in\mathbb N$ and $a\in D_f$, then the Taylor polynomial of $f$ at $a$ has a non-zero remainder if and only if $f$ is not a polynomial function or if it is a polynomial function whose degree is greater than $n$.