If you use no additional data you assume that in all respects other than distance from the star the planets are the same. Then assuming thermal equilibrium the energy radiated bt the planet is proportional to the stellar intensity at the planets distance. Also assume that the Stefan–Boltzmann law applies to the energy radiated from the planets (so it's proportional to the fourth power of the temperature). The intensity of the stellar radiation at the planets distance is inversely proportional to the square of the distance.
This gives us the equation:
$$
\frac{T_1^4}{T_2^4}=\frac{I_1}{I_2}=\frac{R_2^2}{R_1^2}
$$
which simplifies to:
$$
T_1=\sqrt{\frac{R_2}{R_1}}T_2
$$
Now using the data provided we get:
$$
T_1=\sqrt{1.524}\times 210 \approx 259\ \text{K}
$$
Which is of course much less than the average temperature of the Earth since not all else is the same in reality.
One of the significant differences is the Earth has a more massive atmoshpere than Mars, and it has a significant grenhouse effect on the temprature of the Earth. Also the Earth has a higher albedo than Mars which would reduce the equilibrium temperature from that calculated. I expect there are other factors that also contribute but I will leave those to others to mention.