We have that $R$ is a UFD. Now, I'm trying to show that any prime ideal $P$ of $R[x]$ that intersects $R$ trivially is a principal ideal.
I'm trying to show that P has height $1.$ Is this true that P has height $1$? But I cannot prove this. If that is the case, then I can easily prove that P is in fact a principal ideal. Any suggestions would be highly appreciated. Thank you.
Here's a more hands-on version Marktmeisters' excellent answer. It assumes the following fact:
Fact: Any two elements of a UFD have a $\gcd$.
Let $f\in P$ be nonzero and of minimal degree, and let $c\in R$ denote the $\gcd$ of its coefficients so that $f=cg$ for some $g\in R[x]$. Because $P$ is prime and $P\cap R=0$ it follows that $g\in P$.
Now let $h\in P$ be nonzero, and let $d=\gcd(g,h)$. Then $g=ad$ and $h=bd$ for coprime $a,b\in R[x]$. Because $P$ is prime it follows that $d\in P$ as otherwise $a,b\in P$, which implies $R[x]=(a,b)\subset P$, a contradiction.
Because $g$ is of minimal degree it follows that $\deg d=\deg g$ and $a\in R$. Then $a$ divides all coefficients of $g$, hence $a$ is a unit. It follows that $(g)=(d)$ and hence $(h)\subset(g)$. Because $h\in P$ was arbitrary it follows that $P\subset(g)$, and hence $P=(g)$ is principal.