A bracketed sequence is called correct (regular) if by inserting "+" and "1" you can get a well-formed mathematical expression from it. For example, sequences "(())()", "()" and "(()(()))" are correct, while ")(", "(()" and "(()))(" are not.

The teacher gave Dmitry's class a very strange task — she asked every student to come up with a sequence of arbitrary length, consisting only of opening and closing brackets. After that all the students took turns naming the sequences they had invented. When Dima's turn came, he suddenly realized that all his classmates got the correct bracketed sequence, and whether he got the correct bracketed sequence, he did not know.

Dima suspects now that he simply missed the word "correct" in the task statement, so now he wants to save the situation by modifying his sequence slightly. More precisely, he can the arbitrary number of times (possibly zero) perform the reorder operation.

The reorder operation consists of choosing an arbitrary consecutive subsegment (substring) of the sequence and then reordering all the characters in it in an arbitrary way. Such operation takes l nanoseconds, where l is the length of the subsegment being reordered. It's easy to see that reorder operation doesn't change the number of opening and closing brackets. For example for "))((" he can choose the substring ")(" and do reorder ")()(" (this operation will take 2 nanoseconds).

Since Dima will soon have to answer, he wants to make his sequence correct as fast as possible. Help him to do this, or determine that it's impossible.

Input

The first line contains a single integer n (1 ≤ n ≤ 10^6) — the length of Dima's sequence.

The second line contains string of length n, consisting of characters "(" and ")" only.

Output

Print a single integer — the minimum number of nanoseconds to make the sequence correct or "-1" if it is impossible to do so.

Examples

Input


8
))((())(


Output


6


Input


3
(()


Output


-1

Note

In the first example we can firstly reorder the segment from first to the fourth character, replacing it with "()()", the whole sequence will be "()()())(". And then reorder the segment from the seventh to eighth character, replacing it with "()". In the end the sequence will be "()()()()", while the total time spent is 4 + 2 = 6 nanoseconds.


import java.io.IOException;
import java.io.InputStream;
import java.io.PrintWriter;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.InputMismatchException;

public class C {
	//author: Nagabhushan S Baddi

	private static int n;
	private static long[] a;
	private static long d;
	private static String s;
	private static HashMap<Integer, ArrayList<Integer>> g;

	public static void main(String[] args) {
		n = ini();
		s = ins();
		
		long ans = 0;
		boolean good = true;
		
		for(int i=0; i<n; i++) {
			int open = 0;
			int j = 0;
			boolean dev = false;
			for(j=i; j<n; j++) {
				if (s.charAt(j)=='(') open++;
				else open--;
				if (open<0) dev = true;
				if (open==0) break;
			}
			ans += (dev?j-i+1:0);
			if (j==n) {
				good = false;
				break;
			}
			i = j;
		}
		
		pd(good?ans:-1);
		
		//))()((
		
		out.flush();
		out.close();

	}

	//CONSTANTS
	private static final int MOD = (int) 1e9 + 7;

	//NONPROBLEM CODE

	private static InputReader in = new InputReader(System.in);
	private static PrintWriter out = new PrintWriter(System.out);

	private static class InputReader {

		private final InputStream stream;
		private final byte[] buf = new byte[8192];
		private int curChar, snumChars;

		public InputReader(InputStream st) {
			this.stream = st;
		}

		public int read() {
			if (snumChars == -1)
				throw new InputMismatchException();
			if (curChar >= snumChars) {
				curChar = 0;
				try {
					snumChars = stream.read(buf);
				} catch (IOException e) {
					throw new InputMismatchException();
				}
				if (snumChars <= 0)
					return -1;
			}
			return buf[curChar++];
		}

		public int nextInt() {
			int c = read();
			while (isSpaceChar(c)) {
				c = read();
			}
			int sgn = 1;
			if (c == '-') {
				sgn = -1;
				c = read();
			}
			int res = 0;
			do {
				res *= 10;
				res += c - '0';
				c = read();
			} while (!isSpaceChar(c));
			return res * sgn;
		}

		public long nextLong() {
			int c = read();
			while (isSpaceChar(c)) {
				c = read();
			}
			int sgn = 1;
			if (c == '-') {
				sgn = -1;
				c = read();
			}
			long res = 0;
			do {
				res *= 10;
				res += c - '0';
				c = read();
			} while (!isSpaceChar(c));
			return res * sgn;
		}

		public String readString() {
			int c = read();
			while (isSpaceChar(c)) {
				c = read();
			}
			StringBuilder res = new StringBuilder();
			do {
				res.appendCodePoint(c);
				c = read();
			} while (!isSpaceChar(c));
			return res.toString();
		}

		public String nextLine() {
			int c = read();
			while (isSpaceChar(c))
				c = read();
			StringBuilder res = new StringBuilder();
			do {
				res.appendCodePoint(c);
				c = read();
			} while (!isEndOfLine(c));
			return res.toString();
		}

		public boolean isSpaceChar(int c) {
			return c == ' ' || c == '\n' || c == '\r' || c == '\t' || c == -1;
		}

		private boolean isEndOfLine(int c) {
			return c == '\n' || c == '\r' || c == -1;
		}

	}

	//SORT SHORTCUTS

	private static void sort(int[] a) {
		int n = a.length;
		Integer[] b = new Integer[n];
		for (int i = 0; i < n; i++) {
			b[i] = a[i];
		}

		Arrays.sort(b);

		for (int i = 0; i < n; i++) {
			a[i] = b[i];
		}
	}

	private static void sort(long[] a) {
		int n = a.length;
		long[] b = new long[n];
		for (int i = 0; i < n; i++) {
			b[i] = a[i];
		}

		Arrays.sort(b);

		for (int i = 0; i < n; i++) {
			a[i] = b[i];
		}
	}

	//INPUT SHORTCUTS

	private static int[] ina(int n) {
		int[] temp = new int[n];
		for (int i = 0; i < n; i++) {
			temp[i] = in.nextInt();
		}
		return temp;
	}

	private static int ini() {
		return in.nextInt();
	}

	private static long inl() {
		return in.nextLong();
	}

	private static String ins() {
		return in.readString();
	}

	//PRINT SHORTCUTS

	private static void println(Object... o) {
		for (Object x : o) {
			out.write(x + "");
		}
		out.write("\n");
	}

	private static void pd(Object... o) {
		for (Object x : o) {
			out.write(x + "");
		}
		out.flush();
		out.write("\n");
	}

	private static void print(Object... o) {
		for (Object x : o) {
			out.write(x + "");
		}
	}

	//GRAPH SHORTCUTS

	private static HashMap<Integer, ArrayList<Integer>> intree(int n) {

		HashMap<Integer, ArrayList<Integer>> g = new HashMap<>();
		for (int i = 0; i < n; i++) {
			g.put(i, new ArrayList<>());
		}

		for (int i = 0; i < n - 1; i++) {
			int u = ini() - 1;
			int v = ini() - 1;
			g.get(u).add(v);
			g.get(v).add(u);
		}

		return g;
	}

	private static HashMap<Integer, ArrayList<Integer>> ingraph(int n, int m) {
		HashMap<Integer, ArrayList<Integer>> g = new HashMap<>();

		for (int i = 0; i < n; i++) {
			g.put(i, new ArrayList<>());
		}

		for (int i = 0; i < m; i++) {
			int u = ini() - 1;
			int v = ini() - 1;
			g.get(u).add(v);
			g.get(v).add(u);
		}

		return g;

	}

	private static HashMap<Integer, ArrayList<Edge>> inweightedgraph(int n, int m) {
		HashMap<Integer, ArrayList<Edge>> g = new HashMap<>();

		for (int i = 0; i < n; i++) {
			g.put(i, new ArrayList<>());
		}

		for (int i = 0; i < m; i++) {
			int u = ini() - 1;
			int v = ini() - 1;
			int w = ini();
			Edge edge = new Edge(u, v, w);
			g.get(u).add(edge);
			g.get(v).add(edge);
		}

		return g;

	}

	private static class Edge implements Comparable<Edge> {
		private int u, v;
		private long w;

		public Edge(int a, int b, long c) {
			u = a;
			v = b;
			w = c;
		}

		public int other(int x) {
			return (x == u ? v : u);
		}

		public int compareTo(Edge edge) {
			return Long.compare(w, edge.w);
		}
	}

	private static class Pair {
		private int u, v;

		public Pair(int a, int b) {
			u = a;
			v = b;
		}

		public int hashCode() {
			return u + v + u * v;
		}

		public boolean equals(Object object) {
			Pair pair = (Pair) object;
			return u == pair.u && v == pair.v;
		}
	}

	private static class Node implements Comparable<Node> {
		private int u;
		private long dist;

		public Node(int a, long b) {
			u = a;
			dist = b;
		}

		public int compareTo(Node node) {
			return Long.compare(dist, node.dist);
		}
	}

	//MATHS AND NUMBER THEORY SHORTCUTS

	private static int gcd(int a, int b) {
		//O(log(min(a,b)))
		if (b == 0)
			return a;

		return gcd(b, a % b);
	}

	private static long modExp(long a, long b) {
		if (b == 0)
			return 1;

		a %= MOD;

		long exp = modExp(a, b / 2);

		if (b % 2 == 0) {
			return (exp * exp) % MOD;
		} else {
			return (a * ((exp * exp) % MOD)) % MOD;
		}
	}
}
