Irenaeus is a very early author, so he doesn't have the precision of later authors. The passage is in context of creating the world. God creates through the Son and Spirit. Hands is strictly metaphorical.
I would look up Irenaeus for yourself. "Two hands" sounds like a catch phrase intended as a secondhand summary of his teaching.
The reference to "hands" is intended to affirm that the Creator is the Redeemer -- one God; and shows that Son and Spirit are agents, not created instruments. It comes out in the context of creating man in a special way "after the likeness of God." And it would be important to note that he balances the idea of "hands" with more personal language like the "Word" and "Wisdom," so as to stress the idea of personal agency.