I am not a big fan of long cranks. They have their moments though, and are ideal for steep hills, up and down. I felt like my legs were moving in huge arcs when I bought a MUni with 170mm cranks. Initially I ordered 165mm ones, because I already knew about my tendency towards short cranks, but they were out of stock, so I settled for 170mm like Unicycle.com recommended. Before long I was tempted by shorter cranks, and bought some 145mm profiles and have not regretted it. The shorter the cranks, the harder you work (I think you sweat more), because it’s like being in a higher gear ratio. It seems easier to cruise at a higher speed though, and your legs no longer seem to be flailing wildly, and you wobble side to side less, making for a smoother ride.
I think there is an incredible difference between 145s and 170s, each crank is one inch longer/shorter, together that is two inches diameter difference in the pedalling circle. The difference between 170s and 102/110s would be even more vast, and I am not experienced enough to be able to compare.
For general street riding from one place to another, I think the shorter the cranks the better (as long as you are comfortable with them), but depending on what other riding you do it could be a hinderance. With a fat tire you will notice a bit of drag as you maintain your top speed. If you need to accellerate or stop in a hurry, short cranks take longer to change speed than long ones, and if you drop off something it can kind of kick you forwards when you have short cranks.
This is my theory about the physics:
Long=slow +more control +more likely to scrape ground
Short=fast +less control +less likely to scrape ground
I don’t think idling is an essential skill. It’s not really much fun, unless you want to wait at a traffic light or pedestrian crossing, without dismounting and without leaning up against something (hopping works too). By all means practise idling, but you don’t have to do it just because everyone else does it. Long cranks are probably easier to idle with, but any length should do, except maybe the shortest would be tricky.
Don’t worry about people watching you. Some people are amazed even if you can go 20 or 30 meters. If they hassle you and put you down, offer for them to have a go. They will most likely either shut up, or have a go and then compliment you on being able to ride, taking note how much harder it is than you make it look.
If you have square taper cranks, experiment. Cranks are relatively cheap to change, so you haven’t got much to lose, and plenty to gain.