Healthcare burden, I'm not so sure. Even with the massive difference in usage, street car tracks in Seattle cause a lot more healthcare burden to bikers (and pedestrians) than car drivers. There's certainly a benefit from exercise, but bicycling also has more exposure to injury during use, and not all of them are superficial injuries. Add in things like poor form inducing nerve injuries and it looks even worse.
So it's not even comparable. It's probably multiple orders of magnitude better on a societal level to be biking. Even better if we got rid of the cars causing the cyclists to be killed.
All sorts of terrain issues that are minor for a car are dangerous for a bicycle, especially at higher speeds. Where I live, it's very hilly, so it's hard to go anywhere on a bike without hitting speeds of at least 25 mph at some point on the journey. Mechanical issues, unexpected objects in the road, or errors in piloting at that speed will result in an injury for sure.
[1] https://injuryfacts.nsc.org/home-and-community/safety-topics...
[2] https://www.nhtsa.gov/press-releases/2020-traffic-crash-data...
So I think the fatality rate per trip is probably about the same for bike vs car/etc; but the rate per mile for bikes is significantly higher. It'd be interesting to look at comparable rates from say the Netherlands or another country where bicycling is better positioned.
[1] https://nhts.ornl.gov/person-trips [2] https://nhts.ornl.gov/person-miles
Edit: Source: https://assets.publishing.service.gov.uk/government/uploads/...
It is a more complex equation than that..
Probably the hardest variable to quantify is the risk of injury/death.
While I agree it could be better if everyone used bikes, but in the current reality if I choose to ride my bycicle, I'm going to share the road with 2000Kg metal boxes which are sometimes driven by distracted drivers, and I'm not willing to take that risk.
So even if I combine all the costs associated with both options, and bikes are cheaper objectively, it will still be more expensive for me.