How many years did Prophet Mohammed live with Haleema Bivi?

The tradition is that soon after the birth of the Prophet Muhammad (PBUH), he was sent to the desert to live with a Bedouin family, as it was considered healthier for children in those days. He stayed with Halimah bint Abi Dhuayb and her husband until he reached the age of 2. However, some scholars of Islam in the west have rejected the historical authenticity of this tradition.