How long do you need to drive to reset check engine light?

Replaced the upstream O2 sensor on a 1999 Ford Ranger 3.0 flexfuel and the check engine light went off and came back on after driving approx. 4 miles. Read code and it showed p0153 just as it did before. Is there a certain amount of time that the vehicle has to be driven before the computer will recognize that the new sensor is OK?