Unless your calipers or slave cylinders were leaking badly, you most likely only contaminated the master cylinder and will only have to replace or rebuild it. When I was young and more stupid than I am now, I did a similar thing to my 1955 Mercury Montclair. I went sailing through a red stop light when my brakes failed. Fortunately, it was in a small town and there was no traffic at the time and I hit no one.
I rebuilt the master cylinder, did a very thorough flush (with brake fluid of course) of the brake system with the brake lines disconnected, flushed again with the brake lines connected and all was well.
2002 FX4 Bright Red Supercab 4.0 SOHC, manual 5-spd & Tcase, 33" BFG MTs, K&N air filter, Modified air box inlet, Gibson SS cat. back exhaust, Bama flash, Hidden Hitch round receiver, Rear helper air springs, Electric trailer brake controller, Line-X bed liner, WAAG bar with KC lights and Wildernest shell.