understanding linear algebra of a forget gate
Note that $$[h_{t-1}, x_t]$$
is the concatenation of two vectors.
In your example, it would be: $$[h_{t-1}, x_t] = [-1, 2 , 3, 0]$$
and then the dimensions of $W_f$ would be $2 \times 4$, where $2$ is the dimension of the output of the LSTM cell, i.e. the activation $h_t$, that you defined to be of dimension $2$.

Hence, $$W_f \cdot [h_{t-1}, x_t] $$ is a multiplication of a matrix of dimension $2\times4$ by a vector of $4$, which will return a vector of dimesion $2$. And then the sigmoid function will be applied point wise on each of the two elements of the result.

Hope it makes sense.