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.

# Author : raj1307 - Raj Singh
# Date   : 07.03.2020

from __future__ import division, print_function

import os,sys
from io import BytesIO, IOBase

if sys.version_info[0] < 3:
    from __builtin__ import xrange as range
    from future_builtins import ascii, filter, hex, map, oct, zip


def ii(): return int(input())
def si(): return input()
def mi(): return map(int,input().strip().split(" "))
def msi(): return map(str,input().strip().split(" "))
def li(): return list(mi())

def dmain():
    sys.setrecursionlimit(100000000)
    threading.stack_size(40960000)
    thread = threading.Thread(target=main)
    thread.start()
    
#from collections import deque, Counter, OrderedDict,defaultdict
#from heapq import nsmallest, nlargest, heapify,heappop ,heappush, heapreplace
#from math import ceil,floor,log,sqrt,factorial,pi
#from bisect import bisect,bisect_left,bisect_right,insort,insort_left,insort_right
#from decimal import *,threading
#from itertools import permutations
#Copy 2D list  m = [x[:] for x in mark] .. Avoid Using Deepcopy

abc='abcdefghijklmnopqrstuvwxyz'
abd={'a': 0, 'b': 1, 'c': 2, 'd': 3, 'e': 4, 'f': 5, 'g': 6, 'h': 7, 'i': 8, 'j': 9, 'k': 10, 'l': 11, 'm': 12, 'n': 13, 'o': 14, 'p': 15, 'q': 16, 'r': 17, 's': 18, 't': 19, 'u': 20, 'v': 21, 'w': 22, 'x': 23, 'y': 24, 'z': 25}
mod=1000000007
#mod=998244353
inf = float("inf")
vow=['a','e','i','o','u']
dx,dy=[-1,1,0,0],[0,0,1,-1]
def getKey(item): return item[0] 
def sort2(l):return sorted(l, key=getKey)
def d2(n,m,num):return [[num for x in range(m)] for y in range(n)]
def isPowerOfTwo (x): return (x and (not(x & (x - 1))) )
def decimalToBinary(n): return bin(n).replace("0b","")
def ntl(n):return [int(i) for i in str(n)]
def ncr(n,r): return factorial(n)//(factorial(r)*factorial(n-r))

def powerMod(x,y,p):
    res = 1
    x %= p
    while y > 0:
        if y&1:
            res = (res*x)%p
        y = y>>1
        x = (x*x)%p
    return res

def gcd(x, y):
    while y:
        x, y = y, x % y
    return x
    
def isPrime(n) : # Check Prime Number or not 
    if (n <= 1) : return False
    if (n <= 3) : return True
    if (n % 2 == 0 or n % 3 == 0) : return False
    i = 5
    while(i * i <= n) : 
        if (n % i == 0 or n % (i + 2) == 0) : 
            return False
        i = i + 6
    return True



def read():
    sys.stdin = open('input.txt', 'r')  
    sys.stdout = open('output.txt', 'w') 


def main():
    

    
    #for _ in range(ii()):

    
    n=ii()
    s=si()

    x=s.count('(')
    y=s.count(')')

    if x!=y:
        print(-1)
        exit()

    time=0
    
    c=0
    f=0
    start=0
    for i in range(n):

        if s[i]=='(':
            c+=1
        else:
            c-=1

        if f==1 and c==0:
            #print(start,i)
            time+=(i-start)+1
            start=i
            f=0


        if c<0 and f==0:

            start=i
            f=1

    print(time)






























    
    
















# region fastio 
# template taken from https://github.com/cheran-senthil/PyRival/blob/master/templates/template.py

BUFSIZE = 8192


class FastIO(IOBase):
    newlines = 0

    def __init__(self, file):
        self._fd = file.fileno()
        self.buffer = BytesIO()
        self.writable = "x" in file.mode or "r" not in file.mode
        self.write = self.buffer.write if self.writable else None

    def read(self):
        while True:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            if not b:
                break
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines = 0
        return self.buffer.read()

    def readline(self):
        while self.newlines == 0:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            self.newlines = b.count(b"\n") + (not b)
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines -= 1
        return self.buffer.readline()

    def flush(self):
        if self.writable:
            os.write(self._fd, self.buffer.getvalue())
            self.buffer.truncate(0), self.buffer.seek(0)


class IOWrapper(IOBase):
    def __init__(self, file):
        self.buffer = FastIO(file)
        self.flush = self.buffer.flush
        self.writable = self.buffer.writable
        self.write = lambda s: self.buffer.write(s.encode("ascii"))
        self.read = lambda: self.buffer.read().decode("ascii")
        self.readline = lambda: self.buffer.readline().decode("ascii")


def print(*args, **kwargs):
    """Prints the values to a stream, or to sys.stdout by default."""
    sep, file = kwargs.pop("sep", " "), kwargs.pop("file", sys.stdout)
    at_start = True
    for x in args:
        if not at_start:
            file.write(sep)
        file.write(str(x))
        at_start = False
    file.write(kwargs.pop("end", "\n"))
    if kwargs.pop("flush", False):
        file.flush()


if sys.version_info[0] < 3:
    sys.stdin, sys.stdout = FastIO(sys.stdin), FastIO(sys.stdout)
else:
    sys.stdin, sys.stdout = IOWrapper(sys.stdin), IOWrapper(sys.stdout)

input = lambda: sys.stdin.readline().rstrip("\r\n")

# endregion


if __name__ == "__main__":
    #read()
    main()
    #dmain()

# Comment Read()
