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.*;
import java.util.*;

import static java.lang.Math.*;
import static java.util.Arrays.*;

public class cf1323c {

    public static void main(String[] args) throws IOException {
        int n = ri();
        char[] seq = rcha();
        int bal = 0;
        for(char c : seq) {
            if(c == ')') {
                --bal;
            } else {
                ++bal;
            }
        }
        if(bal != 0) {
            prln(-1);
            close();
            return;
        }
        int start = -1, cur = 0, ans = 0;
        for(char c : seq) {
            if(c == ')') {
                --bal;
            } else {
                ++bal;
            }
            if(start == -1 && bal == -1) {
                start = cur;
            }
            if(start != -1 && bal == 0) {
                ans += cur - start + 1;
                start = -1;
            }
            ++cur;
        }
        prln(ans);
        close();
    }

    static BufferedReader __in = new BufferedReader(new InputStreamReader(System.in));
    static PrintWriter __out = new PrintWriter(new OutputStreamWriter(System.out));
    static StringTokenizer input;
    static Random rand = new Random();

    // references
    // IBIG = 1e9 + 7
    // IRAND ~= 3e8
    // IMAX ~= 2e10
    // LMAX ~= 9e18
    // constants
    static final int IBIG = 1000000007;
    static final int IRAND = 327859546;
    static final int IMAX = 2147483647;
    static final int IMIN = -2147483648;
    static final long LMAX = 9223372036854775807L;
    static final long LMIN = -9223372036854775808L;
    // util
    static int minof(int a, int b, int c) {return min(a, min(b, c));}
    static int minof(int... x) {return x.length == 1 ? x[0] : x.length == 2 ? min(x[0], x[1]) : min(x[0], minstarting(1, x));}
    static int minstarting(int offset, int... x) {assert x.length > 2; return offset == x.length - 2 ? min(x[offset], x[offset + 1]) : min(x[offset], minstarting(offset + 1, x));}
    static long minof(long a, long b, long c) {return min(a, min(b, c));}
    static long minof(long... x) {return x.length == 1 ? x[0] : x.length == 2 ? min(x[0], x[1]) : min(x[0], minstarting(1, x));}
    static long minstarting(int offset, long... x) {assert x.length > 2; return offset == x.length - 2 ? min(x[offset], x[offset + 1]) : min(x[offset], minstarting(offset + 1, x));}
    static int maxof(int a, int b, int c) {return max(a, max(b, c));}
    static int maxof(int... x) {return x.length == 1 ? x[0] : x.length == 2 ? max(x[0], x[1]) : max(x[0], maxstarting(1, x));}
    static int maxstarting(int offset, int... x) {assert x.length > 2; return offset == x.length - 2 ? max(x[offset], x[offset + 1]) : max(x[offset], maxstarting(offset + 1, x));}
    static long maxof(long a, long b, long c) {return max(a, max(b, c));}
    static long maxof(long... x) {return x.length == 1 ? x[0] : x.length == 2 ? max(x[0], x[1]) : max(x[0], maxstarting(1, x));}
    static long maxstarting(int offset, long... x) {assert x.length > 2; return offset == x.length - 2 ? max(x[offset], x[offset + 1]) : max(x[offset], maxstarting(offset + 1, x));}
    static int powi(int a, int b) {if(a == 0) return 0; int ans = 1; while(b > 0) {if((b & 1) > 0) ans *= a; a *= a; b >>= 1;} return ans;}
    static long powl(long a, int b) {if(a == 0) return 0; long ans = 1; while(b > 0) {if((b & 1) > 0) ans *= a; a *= a; b >>= 1;} return ans;}
    static int floori(double d) {return (int)d;}
    static int ceili(double d) {return (int)ceil(d);}
    static long floorl(double d) {return (long)d;}
    static long ceill(double d) {return (long)ceil(d);}
    static void shuffle(int[] a) {int n = a.length - 1; for(int i = 0; i < n; ++i) {int ind = randInt(i, n); int swap = a[i]; a[i] = a[ind]; a[ind] = swap;}}
    static void shuffle(long[] a) {int n = a.length - 1; for(int i = 0; i < n; ++i) {int ind = randInt(i, n); long swap = a[i]; a[i] = a[ind]; a[ind] = swap;}}
    static void shuffle(double[] a) {int n = a.length - 1; for(int i = 0; i < n; ++i) {int ind = randInt(i, n); double swap = a[i]; a[i] = a[ind]; a[ind] = swap;}}
    static void sort(int[] a) {shuffle(a); Arrays.sort(a);}
    static void sort(long[] a) {shuffle(a); Arrays.sort(a);}
    static void sort(double[] a) {shuffle(a); Arrays.sort(a);}
    static void qsort(int[] a) {Arrays.sort(a);}
    static void qsort(long[] a) {Arrays.sort(a);}
    static void qsort(double[] a) {Arrays.sort(a);}
    static <T> void shuffle(T[] a) {int n = a.length - 1; for(int i = 0; i < n; ++i) {int ind = randInt(i, n); T swap = a[i]; a[i] = a[ind]; a[ind] = swap;}}
    static int randInt(int min, int max) {return rand.nextInt(max - min + 1) + min;}
    // input
    static void r() throws IOException {input = new StringTokenizer(__in.readLine());}
    static int ri() throws IOException {return Integer.parseInt(__in.readLine());}
    static long rl() throws IOException {return Long.parseLong(__in.readLine());}
    static int[] ria(int n) throws IOException {int[] a = new int[n]; input = new StringTokenizer(__in.readLine()); for(int i = 0; i < n; ++i) a[i] = Integer.parseInt(input.nextToken()); return a;}
    static long[] rla(int n) throws IOException {long[] a = new long[n]; input = new StringTokenizer(__in.readLine()); for(int i = 0; i < n; ++i) a[i] = Long.parseLong(input.nextToken()); return a;}
    static char[] rcha() throws IOException {return __in.readLine().toCharArray();}
    static String rline() throws IOException {return __in.readLine();}
    static int rni() throws IOException {input = new StringTokenizer(__in.readLine()); return Integer.parseInt(input.nextToken());}
    static int ni() {return Integer.parseInt(input.nextToken());}
    static long rnl() throws IOException {input = new StringTokenizer(__in.readLine()); return Long.parseLong(input.nextToken());}
    static long nl() {return Long.parseLong(input.nextToken());}
    // output
    static void pr(int i) {__out.print(i);}
    static void prln(int i) {__out.println(i);}
    static void pr(long l) {__out.print(l);}
    static void prln(long l) {__out.println(l);}
    static void pr(double d) {__out.print(d);}
    static void prln(double d) {__out.println(d);}
    static void pr(char c) {__out.print(c);}
    static void prln(char c) {__out.println(c);}
    static void pr(char[] s) {__out.print(new String(s));}
    static void prln(char[] s) {__out.println(new String(s));}
    static void pr(String s) {__out.print(s);}
    static void prln(String s) {__out.println(s);}
    static void pr(Object o) {__out.print(o);}
    static void prln(Object o) {__out.println(o);}
    static void prln() {__out.println();}
    static void pryes() {__out.println("yes");}
    static void pry() {__out.println("Yes");}
    static void prY() {__out.println("YES");}
    static void prno() {__out.println("no");}
    static void prn() {__out.println("No");}
    static void prN() {__out.println("NO");}
    static void pryesno(boolean b) {__out.println(b ? "yes" : "no");};
    static void pryn(boolean b) {__out.println(b ? "Yes" : "No");}
    static void prYN(boolean b) {__out.println(b ? "YES" : "NO");}
    static void prln(int... a) {for(int i = 0, len = a.length - 1; i < len; __out.print(a[i]), __out.print(' '), ++i); __out.println(a[a.length - 1]);}
    static void prln(long... a) {for(int i = 0, len = a.length - 1; i < len; __out.print(a[i]), __out.print(' '), ++i); __out.println(a[a.length - 1]);}
    static <T> void prln(Collection<T> c) {int n = c.size() - 1; Iterator<T> iter = c.iterator(); for(int i = 0; i < n; __out.print(iter.next()), __out.print(' '), ++i); if(n >= 0) __out.println(iter.next());}
    static void h() {__out.println("hlfd");}
    static void flush() {__out.flush();}
    static void close() {__out.close();}
}