Multi-platform, fast and packed with features, Okular allows you to read PDF documents, comics and EPub books, browse images, visualize Markdown documents, and much more.
Use Okular (or similar) to add annotations that cover up the parts of the PDF that you want to redact (i.e. passwords, socials, etc)
Use Okular (or similar) to print as PDF, making sure to select "Force rasterization" (or similar) before exporting as PDF.
This will produce a PDF without vector images -- instead all form fields/text will be "rasterized" or turned into an image.