If we are talking standard geometry - 53cm would be ideal considering your inseam with your height. Anything 55cm or above is too big.

Everything else depends on manufacturer, you need to know what the geometry is on the bike you are looking at. If you are unfamiliar with stack and reach, you want something that has a virtual top tube (effective top tube) measurement (TT) 52cm-54cm range. You will need to fine tune your reach with a stem of appropriate length.

JMO