There is no general value available to determine the actual necessary distance. There are many factors relevant for the actual determination. Please see only a few:
Scan speed, point rate, scanned pattern, beam divergence, output power of the laser projector, beam diametre at aperture, etc.
Internationally the IEC 60825-1 Laser Safety Regulation applies.
It defines the power of laser class 2 in public area as safe for laser shows.
If people can walk underneath the mounted laser system, minimum mounting height is 3m (in Germany: 2,7m). Please respect the actual immission in public area to not exceed laser class 3R.!
You may use laser class 4 projectors to do audience scanning shows, as long as the class 2 value is respected in the public area. Please respect your local legal regulations.
Examples for safe laser class 4 lasershows:
Distributed brands: