Your local parts supplier or Toyota dealer will sell wheel locks in a set of 4 (1 for each rim). They require a matching imprint key in order to remove the locks - which are round and not hexagonal.
Personally I've always fell that this is only a deterrent for the quicky grab-and-dash thief. If they want your rims, they're gone because there's a limited number of keys available. "If" I was a professional crook, I'd steal all the possible keys from my local parts supplier, and then go to town and snag everyone's rims.
Best defence is: Don't park your car where you can get your rims stolen.