From 3 to 22 minutes depending on the position of Mars. But we should keep in mind
that Mars is not always visible from Earth - so that requires a system of repeaters.

Approximate calculations for the minimum and the maximum distances:
55,750,000,000 m 299,792,458 mps = 185.961,983,073 s = 3.099,366,385 min
401,000,000,000 m 299,792,458 mps = 1,337.859,778,937 s = 22.297,662,982 min