Can you drive too long while in "B"

We got 2 feet of snow yesterday. This morning I had to put my Prius in B to get out of my drive and down my street (horrible job keeping our street clear all winter). I get on my main road to work. I wasn't driving at full speed, because it was slick and a lot of snow ruts. I realized about 6 miles from my house, I never switched back to D.

Can you be on B for too long?