The trip time using conventional chemical rockets is limited to modified Hohmann transfer orbits of around six to eight months each way, and the duration on the surface would be about eighteen months before the next orbital launch window between Earth and Mars. With basic well-understood radiation mitigation techniques, total radiation exposure for each astronaut over the duration of the mission is around 50 rem, less than the amount needed to increase by 1% the chances of a 35-year old adult of developing cancer at some point later in life, a lower risk than by spending the same amount of time smoking cigarettes on Earth.
Getting the astronauts back isn't prohibitively more difficult than getting them there in the first place: the energy expenditure for escaping the surface is 17% of the Earth's, and using the Mars Direct mission architecture, you can send a return vehicle ahead of time with seed hydrogen to manufacture liquid methane propellant and liquid oxygen oxidizer from the carbon dioxide air, through the Sabatier reaction for both and also with electrical dissociation of the carbon dioxide for more oxygen. You can also test it in flight after producing its fuel before deciding to launch the humans to Mars in the first place.
We still need a heavier-lift heavy lift vehicle of at least 100 to 140 tonnes to LEO to start being able to send major assets to the Mars surface in one shot, but SpaceX is becoming increasingly credible as a possible creator of such a vehicle. Putting humans on Mars within twenty years would require at least a few billion dollars a year (a small fraction of NASA's budget) and ironing out some engineering details, but is entirely doable. The biggest obstacle is just having leadership with a sustained focus on that goal over the course of the couple of decades required, and that hasn't been forthcoming from within government, but perhaps could be supplied from a private entity. SpaceX has been laying down a solid record of presenting visionary plans for spacefaring capabilities and then making them happen.