Cars are pretty much mandatory to get around outside of the city center. There are buses downtown, but many destinations require your own car. Cars can be rented at the Boise Airport from many companies including Hertz, Avis, Thrifty, Dollar, and Budget.
The Boise Green Belt is a paved pedestrian and bike path that stretches nearly 15 miles from Lucky Peak Dam to the east of Boise, all the way through town. If you are in to riding your bike or walking, much of Boise can be accessed this way, depending on where you are staying.