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 java.math.*;
import java.lang.*;
 
import static java.lang.Math.*;
 
public class Solution implements Runnable 
{
	static class InputReader 
	{
		private InputStream stream;
		private byte[] buf = new byte[1024];
		private int curChar;
		private int numChars;
		private SpaceCharFilter filter;
		private BufferedReader br = new BufferedReader(new InputStreamReader(System.in));
 
		public InputReader(InputStream stream) 
		{
			this.stream = stream;
		}
		
		public int read()
		{
			if (numChars==-1) 
				throw new InputMismatchException();
            
			if (curChar >= numChars) 
			{
				curChar = 0;
				try
				{
					numChars = stream.read(buf);
				}
				catch (IOException e)
				{
					throw new InputMismatchException();
				}
                
				if(numChars <= 0)               
					return -1;
			}
			return buf[curChar++];
		}
     
		public String nextLine()
		{
			String str = "";
			try
			{
				str = br.readLine();
			}
			catch (IOException e)
			{
				e.printStackTrace();
			}	
			return str;
		}
		public int nextInt() 
		{
			int c = read();
            
			while(isSpaceChar(c)) 
				c = read();
		
			int sgn = 1;
        
			if (c == '-') 
			{
				sgn = -1;
				c = read();
			}
            
			int res = 0;
			do
			{
				if(c<'0'||c>'9') 
					throw new InputMismatchException();
				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 
			{
				if (c < '0' || c > '9')
					throw new InputMismatchException();
				res *= 10;
				res += c - '0';
				c = read();
			}	
			while (!isSpaceChar(c));
				return res * sgn;
		}
		
		public double nextDouble() 
		{
			int c = read();
			while (isSpaceChar(c))
				c = read();
			int sgn = 1;
			if (c == '-')
			{
				sgn = -1;
				c = read();
			}
			double res = 0;
			while (!isSpaceChar(c) && c != '.') 
			{
				if (c == 'e' || c == 'E')
					return res * Math.pow(10, nextInt());
				if (c < '0' || c > '9')
					throw new InputMismatchException();
				res *= 10;
				res += c - '0';
				c = read();
			}
			if (c == '.') 
			{
				c = read();
				double m = 1;
				while (!isSpaceChar(c))
				{
					if (c == 'e' || c == 'E')
						return res * Math.pow(10, nextInt());
					if (c < '0' || c > '9')
						throw new InputMismatchException();
					m /= 10;
					res += (c - '0') * m;
					c = read();
				}
			}
			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 boolean isSpaceChar(int c) 
		{
			if (filter != null)
				return filter.isSpaceChar(c);
			return c == ' ' || c == '\n' || c == '\r' || c == '\t' || c == -1;
		}
     
		public String next()
		{
			return readString();
		}
        
		public interface SpaceCharFilter
		{
			public boolean isSpaceChar(int ch);
		}
	}
	public static void main(String args[]) throws Exception 
	{
		new Thread(null, new Solution(),"Main",1<<27).start();
	}	
	
	public static long gcd(long a, long b) 
	{ 
		if (a == 0) 
			return b; 
		return gcd(b % a, a); 
	} 
  
	public static long findGCD(long arr[], int n) 
	{ 
		long result = arr[0]; 
		for (int i = 1; i < n; i++) 
			result = gcd(arr[i], result); 
		return result; 
	}	 
	
	static void sortbycolomn(long arr[][], int col)
    { 
         
        Arrays.sort(arr, new Comparator<long[]>() { 
            
          @Override              
           
          public int compare(final long[] entry1,  
                             final long[] entry2) { 
  
            
            if (entry1[col] > entry2[col]) 
                return 1; 
            else
                return -1; 
          } 
        });   
    } 
	
	public void run()
	{
		InputReader in = new InputReader(System.in);
		PrintWriter w = new PrintWriter(System.out);
		
		int n=in.nextInt();
		String s=in.next();
		char[] c=s.toCharArray();
		int op=0;
		int count=0;
		int temp=0;
		int flag=0;
		for(int i=0;i<n;i++){
		    if(flag==1 && op==0){
		        count+=temp;
		        temp=0;
		    }
		    else if(flag==0 && op==0){
		        temp=0;
		    }
		    if(c[i]=='('){
		        op++;
		        temp++;
		    }
		    else{
		        op--;
		        temp++;
		    }
		    if(op<0)
		        flag=1;
		    else if(op>0)
		        flag=0;
		}
		if(op!=0)
		    w.println("-1");
		else if(flag==1){
		    count+=temp;
		    w.println(count);
		}
		else
		    w.println(count);
		
		w.flush();
		w.close();
	}
}