I'd say that is about an average price for brand new basic model. If it's decked out, then it's that much more a bargain.
It's okay for cars to have 40-60 miles on it, because they've got to drive the car to get it out of the factory, etc. But if it's over 100 miles, I'd be wary.
But it sounds like about an average price. Call some other Toyota dealers and ask them what they'd charge for the same car with same features, then you can see if it's a common price for dealers.