Been discussed 147 times before but here it is again:
When the oil level gets close to ~ one quart low the light will come on a minute or three after a cold start, stay on for maybe a minute, then go out. This is because IMO the cold oil is getting pumped around the engine, the engine is warming up, etc,etc.
With continued driving (days, weeks, depending on the rate your engine consumes/leaks oil) as the oil level goes further down and the light begins to stay on longer, and longer, and eventually when the engine is somewhere around 1-1/2 to 2 quarts low it will stay on continuously, IME.
Best to check the oil after the engine is fully warmed up (15+ minute drive), then park on a level surface, shut the engine down, and check the oil level. Pull the dipstick (Toyota calls it a "gauge"), wipe it off, reinsert, count to three, pull the dipstick, hold it almost horizontal (not tilted tip up), then read the level. Anything between the hatched marks is good.
Driving this engine two quarts low IME will not hurt it (assuming you're not driving across a desert for a few weeks).