Also, on the Earth, JP Aerospace plan to build orbital airships that are even lighter that would launch from 200,000 feet into orbit. They would accelerate by using ion thrusters and so would no longer be using lift at that stage - after all they have to reach orbital velocity - these are huge airships that are so light they couldn't be built at ground level.
These would be truly orbital airships - and at this point would be in orbit, slowly accelerating to Mach 20 and greater, not floating, but they'd set off from a station at 200,000 feet (60 kms) and at that point would be just floating.
Well, though I don't think they have any such ambition - the atmosphere at this height is roughly comparable to the Mars surface in density. So - if it worked out - such airships could land on the Mars surface and take off directly from the Mars surface, no need for any intermediate steps.
For other ideas for Mars vehicles, various unorthodox and novel ideas, see