Use PHP's DateTime to convert from one format to another. You don't need any dependencies, such as Carbon - which is bloat and overkill for your use case.
What you need is to tell PHP what the input date format is and what you want for the output.
Your code states "Apr 23, 2019 4:30:15 PM"
as the date. Code that would convert between your input and what MySQL expects is the following:
$date = 'Apr 23, 2019 4:30:15 PM';
$input_format = 'M d, Y H:i:s A'; // Apr 23, 2019 4:30:15 PM
$output_format = 'Y-m-d H:i:s' // 2019-04-23 16:30:15
$timezone = new \DateTimeZone("UTC"); // Make sure to correctly choose your time zone
$dt = \DateTime::createFromFormat($input_format, $date, $timezone);
echo $dt->format($output_format); // echoes "2019-04-23 16:30:15"
No need for external dependencies, quick, simple and readable.