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.util.*;
import java.lang.*;
import java.io.*;  
public class Main 
{
/*
    HashMap<> map=new HashMap<>();
    TreeMap<> map=new TreeMap<>();
    map.put(p,map.getOrDefault(p,0)+1);
    for(Map.Entry<> mx:map.entrySet()){
          int v=mx.getValue(),k=mx.getKey();
    }for (int i = 1; i <= 1000; i++)
    fac[i] = fac[i - 1] * i % mod;
    ArrayList<Pair<Character,Integer>> l=new ArrayList<>();
    ArrayList<> l=new ArrayList<>();
    HashSet<> has=new HashSet<>();*/ 
    PrintWriter out;
    FastReader sc;
    long mod=(long)(1e9+7);
    int maxint= Integer.MAX_VALUE;
    int minint= Integer.MIN_VALUE;
    long maxlong=Long.MAX_VALUE;
    long minlong=Long.MIN_VALUE;
    
    
    /******************************************************************************************
     *****************************************************************************************/
    public void sol(){
          int n=ni();
          char[] s=rl();
          boolean f=false;
          int a=0,b=0;
          for(int i=0;i<n;i++){
                if(s[i]=='(')a++;
                else b++;
          }if(a!=b){
                pl("-1");
                return;
          }else{
                int i=0,ans=0;
                while(i<n){
                      a=0;b=0;
                      if(s[i]==')'){
                            i++;
                            b++;
                            ans++;
                            while(i<n&&a!=b){
                                  if(s[i]==')')b++;
                                  else a++;
                                  ans++;
                                  i++;
                            }
                      }else{
                            i++;
                            a++;
                            while(i<n&&a!=b){
                                  if(s[i]==')')b++;
                                  else a++;
                                  i++;
                            }
                      }
                }pl(ans);
          }
    }
    public static void main(String[] args) 
	{ 
	      Main g=new Main();
		g.out=new PrintWriter(System.out);
		g.sc=new FastReader();
// 		int t=g.ni();
            int t=1;
		while(t-->0)
		g.sol();
		g.out.flush();
	}
	
	
	/****************************************************************************************
     *****************************************************************************************/
	static class FastReader 
	{ 
		BufferedReader br; 
		StringTokenizer st; 
 
		public FastReader() 
		{ 
			br = new BufferedReader(new
					InputStreamReader(System.in)); 
		} 
 
		String next() 
		{ 
			while (st == null || !st.hasMoreElements()) 
			{ 
				try
				{ 
					st = new StringTokenizer(br.readLine()); 
				} 
				catch (IOException e) 
				{ 
					e.printStackTrace(); 
				} 
			} 
			return st.nextToken(); 
		} 
 
		int nextInt() 
		{ 
			return Integer.parseInt(next()); 
		} 
 
		long nextLong() 
		{ 
			return Long.parseLong(next()); 
		} 
 
		double nextDouble() 
		{ 
			return Double.parseDouble(next()); 
		} 
 
		String nextLine() 
		{ 
			String str = ""; 
			try
			{ 
				str = br.readLine(); 
			} 
			catch (IOException e) 
			{ 
				e.printStackTrace(); 
			} 
			return str; 
		} 
	} public int ni(){
	      return sc.nextInt();
	}public long nl(){
	      return sc.nextLong();
	}public double nd(){
	      return sc.nextDouble();
	}public char[] rl(){
	      return sc.nextLine().toCharArray();
	}public String rl1(){
	      return sc.nextLine();
	}
	public void pl(Object s){
	      out.println(s);
	}public void ex(){
	      out.println();
	}
	public void pr(Object s){
	      out.print(s);
	}public String next(){
	      return sc.next();
	}public long abs(long x){
	      return Math.abs(x);
	}
	public int abs(int x){
	      return Math.abs(x);
	}
	public double abs(double x){
	      return Math.abs(x);
	}
      public long pow(long x,long y){
            return (long)Math.pow(x,y);
      }
      public int pow(int x,int y){
            return (int)Math.pow(x,y);
      }
      public double pow(double x,double y){
            return Math.pow(x,y);
      }public long min(long x,long y){
            return (long)Math.min(x,y);
      }
      public int min(int x,int y){
            return (int)Math.min(x,y);
      }
      public double min(double x,double y){
            return Math.min(x,y);
      }public long gcd(long a, long b) {
		if (a == 0)
			return b;
		return gcd(b % a, a);
	}public long lcm(long a, long b) {
            return (a / gcd(a, b)) * b;
      }
       void sort1(int[] a) {
		ArrayList<Integer> l = new ArrayList<>();
		for (int i : a) {
			l.add(i);
		}
		Collections.sort(l,Collections.reverseOrder());
		for (int i = 0; i < a.length; i++) {
			a[i] = l.get(i);
		}
	}
	 void sort(int[] a) {
		ArrayList<Integer> l = new ArrayList<>();
		for (int i : a) {
			l.add(i);
		}
		Collections.sort(l);
		for (int i = 0; i < a.length; i++) {
			a[i] = l.get(i);
		}
	}void sort(long[] a) {
		ArrayList<Long> l = new ArrayList<>();
		for (long i : a) {
			l.add(i);
		}
		Collections.sort(l);
		for (int i = 0; i < a.length; i++) {
			a[i] = l.get(i);
		}
	}void sort1(long[] a) {
		ArrayList<Long> l = new ArrayList<>();
		for (long i : a) {
			l.add(i);
		}
		Collections.sort(l,Collections.reverseOrder());
		for (int i = 0; i < a.length; i++) {
			a[i] = l.get(i);
		}
	}
	void sort(double[] a) {
		ArrayList<Double> l = new ArrayList<>();
		for (double i : a) {
			l.add(i);
		}
		Collections.sort(l);
		for (int i = 0; i < a.length; i++) {
			a[i] = l.get(i);
		}
	}int  swap(int a,int b){
	      return a;
	}long  swap(long a,long b){
	      return a;
	}double  swap(double a,double b){
	      return a;
	}
	boolean isPowerOfTwo (int x) 
      { 
            return x!=0 && ((x&(x-1)) == 0);     
      }boolean isPowerOfTwo (long x) 
      { 
            return x!=0 && ((x&(x-1)) == 0);     
      }public long max(long x,long y){
            return (long)Math.max(x,y);
      }
      public int max(int x,int y){
            return (int)Math.max(x,y);
      }
      public double max(double x,double y){
            return Math.max(x,y);
      }long sqrt(long x){
            return (long)Math.sqrt(x);
      }int sqrt(int x){
            return (int)Math.sqrt(x);
      }void input(int[] ar,int n){
            for(int i=0;i<n;i++)ar[i]=ni();
      }void input(long[] ar,int n){
            for(int i=0;i<n;i++)ar[i]=nl();
      }void fill(int[] ar,int k){
            Arrays.fill(ar,k);
      }void yes(){
            pl("YES");
      }void no(){
            pl("NO");
      }
    int[] sieve(int n) 
    { 
        boolean prime[] = new boolean[n+1]; 
        int[] k=new int[n+1];
        for(int i=0;i<=n;i++) {
            prime[i] = true; 
            k[i]=i;
        }
          
        for(int p = 2; p <=n; p++) 
        { 
            if(prime[p] == true) 
            { 
               // sieve[p]=p;
                for(int i = p*2; i <= n; i += p) {
                    prime[i] = false; 
                  //  sieve[i]=p;
                    while(k[i]%(p*p)==0){
                          k[i]/=(p*p);
                    }
                }
            } 
        }return k;
    }
    int strSmall(int[] arr, int target)  
    {  
        int start = 0, end = arr.length-1;  
        int ans = -1;  
        while (start <= end) {  
            int mid = (start + end) / 2;   
            if (arr[mid] >= target) {  
                end = mid - 1;  
            }   
            else {  
                ans = mid;  
                start = mid + 1;  
            }  
        }  
        return ans;  
    } int strSmall(ArrayList<Integer> arr, int target)  
    {  
        int start = 0, end = arr.size()-1;  
        int ans = -1;  
        while (start <= end) {  
            int mid = (start + end) / 2;   
            if (arr.get(mid) > target) {  
                start = mid + 1; 
                ans=start;
            }   
            else {
                end = mid - 1;  
            }  
        }  
        return ans;  
    }long mMultiplication(long a,long b) 
    { 
        long res = 0;    
        a %= mod; 
  
        while (b > 0)  
        {  
            if ((b & 1) > 0)  
            { 
                res = (res + a) % mod; 
            }  
            a = (2 * a) % mod; 
  
            b >>= 1;  
        } 
        return res; 
    }long nCr(int n, int r,
                             long p)
    {
 
          if (n<r) 
              return 0;
        if (r == 0)
            return 1;
            long[] fac = new long[n + 1];
        fac[0] = 1;
 
        for (int i = 1; i <= n; i++)
            fac[i] = fac[i - 1] * i % p;
        return (fac[n] * modInverse(fac[r], p)
                % p * modInverse(fac[n - r], p)
                % p)
            % p;
    }long power(long x, long y, long p)
    {
        long res = 1;
        x = x % p;
 
        while (y > 0) {
            if (y % 2 == 1)
                res = (res * x) % p;
            y = y >> 1; 
            x = (x * x) % p;
        }
 
        return res;
    }long modInverse(long n, long p)
    {
        return power(n, p - 2, p);
    }
      public static class Pair implements Comparable<Pair> {
		int x;
		int y;
 
		public Pair(int x, int y) {
			this.x = x;
			this.y = y;
		}
 
		public String toString() {
			return x + "," + y;
		}
 
		public boolean equals(Object o) {
			if (o instanceof Pair) {
				Pair p = (Pair) o;
				return p.x == x && p.y == y;
			}
			return false;
		}
 
		public int hashCode() {
			return new Double(x).hashCode() * 31 + new Double(y).hashCode();
		}
 
		public int compareTo(Pair other) {
			if (this.x == other.x) {
				return Long.compare(this.y, other.y);
			}
			return Long.compare(this.x, other.x);
		}
      }
	 
} 