Even a small balloon should stay at the same height with the right mixture of helium and air -- in fact, even the ones that float upwards will, eventually, stop rising and just stay at the same height. It's just that you can't see where this height is.
The requirement is that the density/ pressure of gas in the balloon matches the density/ pressure outside. Once this happens, and assuming a perfectly airtight balloon, then it should stay at the same height.
In practice this is unlikely to happen because the balloon is not perfectly airtight, and anyway pressure and density aren't just functions of height. But in a controlled and stable atmosphere the balloon should hover at some height that will depend on its density of gas.