If you're traveling with bicycles, you'll need to take the car ferry from Lido-St. Nicolo to Tronchetto. This runs approximately every 50 minutes. The bicycle entrance from Tronchetto to Piazza Roma is very well-designed and safe.
The vaporettos to/from Lido don't carry bicycles.
A single trip costs 9.50 plus 1.50 per bicycle and ferry. The single ticket is valid for 75 minutes. This isn't enough to take all three ferries from Chioggia to Venice. The journey by bicycle on Pelestrina or Lido takes longer, so we always missed exactly one ferry. It's worth getting a multi-day ticket (25 euros for 24 hours; 35 euros for 48 hours; 45 euros for 72 hours) plus the three required bicycle tickets. This depends on how long you're staying in Venice. With the VeneziaUnica card, you can buy all the necessary tickets for public transport and cultural visits online in advance. The card can be printed at the machine using a QR code or PNR code.