Using body wave arrival times from 31 seismic events recorded on Mars by the InSight mission, combined with topography and gravity field modeling, we constrained lateral variations of crustal thickness through a Bayesian inversion approach. The parameterization of the seismic structure relies on quantities that influence the thermochemical evolution of Mars, enabling the seismic velocities and densities in the different planetary envelopes to be consistently linked through common physical assumptions. Compared to a 1D structure, models with lateral variations of crustal thickness show two possible interpretations of the thermal evolution of Mars, with either a hot or cold scenario at the present-day. We found the hot scenario to be more compatible with InSight's radiotracking data and the tidal Love number. We relocated the marsquakes and derived maps of seismicity recorded by InSight, which is mostly located along or North of the boundary between the Northern lowlands and the Southern highlands.