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.io.*;import java.math.*;

public class Main
{

    public static void process()throws IOException
    {
    	int n=ni(),op=0,cl=0,st=1,res=0,v=0;
    	char arr[]=(" "+nln()).toCharArray();

    	boolean flag=false;

    	for(int i=1;i<=n;i++){
    		if(arr[i]==')')
    			cl++;
    		else
    			op++;

    		if(cl>op)
    			flag=true;

    		if(op==cl){

    			if(flag){//was not balanced
    				res+=i-st+1;
    			}

    			op=(cl=0);
 				flag=false;
 				st=i+1;
    		}
    	}

    	pn((op!=cl)?-1:res);
    }


    static AnotherReader sc;
    static PrintWriter out;
    public static void main(String[]args)throws IOException
    {
        out = new PrintWriter(System.out);
        sc=new AnotherReader();
        boolean oj = true;

    	oj = System.getProperty("ONLINE_JUDGE") != null;
    	if(!oj) sc=new AnotherReader(100);

        long s = System.currentTimeMillis();
        int t=1;
		//t=ni();
        while(t-->0)
            process();
        out.flush();
        if(!oj)
            System.out.println(System.currentTimeMillis()-s+"ms");
        System.out.close();  
    }
	
    
    static void pn(Object o){out.println(o);}
    static void p(Object o){out.print(o);}
    static void pni(Object o){out.println(o);System.out.flush();}
    static int ni()throws IOException{return sc.nextInt();}
    static long nl()throws IOException{return sc.nextLong();}
    static double nd()throws IOException{return sc.nextDouble();}
    static String nln()throws IOException{return sc.nextLine();}
    static long gcd(long a, long b)throws IOException{return (b==0)?a:gcd(b,a%b);}
    static int gcd(int a, int b)throws IOException{return (b==0)?a:gcd(b,a%b);}
    static int bit(long n)throws IOException{return (n==0)?0:(1+bit(n&(n-1)));}
    static boolean multipleTC=false;
    static long mod=(long)1e9+7l;

    static void r_sort(int arr[],int n){
        Random r = new Random(); 
        for (int i = n-1; i > 0; i--){ 
            int j = r.nextInt(i+1); 
                  
            int temp = arr[i]; 
            arr[i] = arr[j]; 
            arr[j] = temp; 
        } 
        Arrays.sort(arr); 
    }

    static long mpow(long x, long n) {
        if(n == 0)
            return 1;
        if(n % 2 == 0) {
            long root = mpow(x, n / 2);
            return root * root % mod;
        }else {
            return x * mpow(x, n - 1) % mod;
        }
    }
    
    static long mcomb(long a, long b) {
        if(b > a - b)
            return mcomb(a, a - b);
        long m = 1;
        long d = 1;
        long i;
        for(i = 0; i < b; i++) {
            m *= (a - i);
            m %= mod;
            d *= (i + 1);
            d %= mod;
        }
        long ans = m * mpow(d, mod - 2) % mod;
        return ans;
    }
/////////////////////////////////////////////////////////////////////////////////////////////////////////

    static class AnotherReader{BufferedReader br; StringTokenizer st;
    AnotherReader()throws FileNotFoundException{
    br=new BufferedReader(new InputStreamReader(System.in));}
    AnotherReader(int a)throws FileNotFoundException{
    br = new BufferedReader(new FileReader("input.txt"));}
    String next()throws IOException{
    while (st == null || !st.hasMoreElements()) {try{
    st = new StringTokenizer(br.readLine());}
    catch (IOException  e){ e.printStackTrace(); }}
    return st.nextToken(); } int nextInt() throws IOException{
    return Integer.parseInt(next());}
    long nextLong() throws IOException
    {return Long.parseLong(next());}
    double nextDouble()throws IOException { return Double.parseDouble(next()); }
    String nextLine() throws IOException{ String str = ""; try{
    str = br.readLine();} catch (IOException e){
    e.printStackTrace();} return str;}}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
}