Well, obviously there's a leak! Also, air is somehow getting into the system, as you shouldn't have rust in the fluid--an air free, closed loop system shouldn't rust and you should be able to get away with a cast iron body circulator pump, not the more costly stainless steel or bronze which are required for potable water systems. Your system should have an air eliminator as well as expansion tank. You should not lose fluid.
I had a snowmelt system with 28 gallons of custom-blended glycol, two circulator pumps (though I opted for stainless and bronze simply because of availability and longevity not because they were necessary) at my home. That was fired with a 200K BTU heater. I also had a carwash with a similar system, but 3x the size in nearly every dimension. Never had a leak; in 10 years while I owned the home we still had all the fluid. So, no--losing fluid in two years of operation isn't normal.
However as all the PEX was buried in concrete, leak detection was costly and invasive; we thought we might have at one time, but we didn't. One method involved purging the system of fluid, and filling with compressed air and searching for a leak with sound. Another method involved pressurizing with helium or some other gas and using a sophisticated sniffer to detect the approximate location. Not easy, not cheap and then there's the repair...