If the object can be as small as an atom, then it's happening constantly. Atoms in a hot gas mixture will have an average velocity related to the average kinetic energy which is in turn related to temperature.
tl;dr: The Earth loses 95,000 tonnes of hydrogen and 1,600 tonnes a year of helium in the form of atoms or molecules.
For example, in a standard atmosphere near the surface, the average speed of a molecule is also roughly the speed of sound, or about 330 m/s for an average molecular mass of 28. For helium atoms in air with a mass of 4 the speed will be $\sqrt{7}$ larger, or about 870 m/s.
That still sound very far from escape velocity, but that's the average. There's always a distribution in velocities and for a given velocity component the Maxwell-Boltzman velocity distribution is
$$f_v(v_i) = \sqrt{\frac{m}{2 \pi k_B T}} \exp\left( \frac{-mv_i^2}{2 k_B T} \right)$$
But at the tippy-top of Earth's atmosphere a few things are different. Atoms can be much hotter than 300 Kelvin and the distributions of kinetic energy can be non-thermal in nature, and the densities are so low that once an atom achieves escape velocity there's a good chance it will escape without hitting anything further.
At lower altitude the atmosphere's mixture has relatively constant ratios, but (as the plot shows) once you get above 90 to 100 km the density is so low that the gases are no longer automatically mixed. At this point each gas can have its own scale height such that the exponential rate of drop off is faster for the heavier gases.
This produces a sequence of primary gas component as a function of altitude.
See concepts of scale height and turbulent mixing in answers to Why does Earth's atmospheric density have a big “knee” around 100 km? Is there a good analytical approximation?
As shown in the plot below, above about 190 km monatomic oxygen (O, not O2) is the primary component of Earth's atmosphere. At 450 km helium is the primary component and above roughly 1250 km hydrogen becomes the primary component.

Source
This answer to Is Earth getting heavier or lighter? says:
It seems a similar question was asked in Astronomy Stack Exchange, and this short answer links to the BBC News article Who, What, Why: Is the Earth getting lighter? which answers this question.
[...]
"Physicists have shown that the Earth is losing about three kilograms of hydrogen gas every second. It's about 95,000 tonnes of hydrogen that the planet is losing every year.
"The other very light gas this is happening to is helium and there is much less of that around, so it's about 1,600 tonnes a year of helium that we lose."