Well if the martians don't live on Mars, where do they live? Huh?
I think it's heavily dependent on where you live. San Francisco is the most expensive city in America, and I've heard reports of people making $60k being homeless. On the other hand, if you live in a little town like mine, you can feel like the king of the world for less than $100k per year. Highly variable.
However, if you have liquid assets in excess of $10m, you don't actually have to work anymore. That's rich enough.
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