#include <iostream>
#include <sstream>
#include <iomanip>
#include <vector>
#include <string>
#include <map>
#include <set>
#include <algorithm>
#include <numeric>
#include <iterator>
#include <functional>
#include <complex>
#include <queue>
#include <stack>
#include <cmath>
#include <cassert>
#include <tuple>
using namespace std;
typedef long long LL;
typedef complex<double> CMP;

class ParenthesesDiv1Medium { public:
	int minSwaps(string s, vector <int> L, vector <int> R)
	{
		set<pair<int,int>> LR;
		for(int i=0; i<L.size(); ++i) {
			if((R[i]-L[i]+1)%2==1)
				return -1;
			LR.emplace(L[i], R[i]+1);
		}

		// event <pos, open>
		deque<pair<int,bool>> events;
		for(auto lr: LR) {
			events.emplace_back(lr.first, true);
			events.emplace_back(lr.second, false);
		}
		sort(events.begin(), events.end());

		vector<string> req;

		stack<string> stk;
		stk.push("");
		for(int i=0; i<=s.size(); ++i) {
			while(!events.empty() && events[0].first==i) {
				if(events[0].second) {
					stk.push("");
				} else {
					if(!stk.top().empty())
						req.push_back(stk.top());
					stk.pop();
				}
				events.pop_front();
			}
			if(i<s.size())
				stk.top() += s[i];
		}

		return solve(req, stk.top());
	}

	int sig(const string& s)
	{
		int d = 0;
		for(char c: s) d += (c=='(' ? +1 : -1);
		return d;
	}

	// required to make |require| strings correct, |remaining| is the unconstrained supply of chars.
	int solve(const vector<string>& require, const string& remaining)
	{
		//cerr << "[" << remaining << "]" << endl;

		int cost = 0;

		vector<int> sv;
		for(auto r: require)
		{
			int sr = sig(r)/2;
			sv.push_back(sr);

			//cerr << ":: ["  << r << "] @ " << sr << endl;

			int d = 0;
			for(char& c: r)
			{
				if(sr>0 && d>0 && c=='(') c=')', --sr;
				else if(sr<0 && c==')') c='(', ++sr;
				d += (c=='(' ? +1 : -1);
			}
			cost += cost_single(r);
		}

		int ss = accumulate(sv.begin(), sv.end(), 0);
		if(ss>0 && ss>count(remaining.begin(), remaining.end(), ')')) return -1;
		if(ss<0 && -ss>count(remaining.begin(), remaining.end(), '(')) return -1;

		int nega=0, posi=0; for(int z: sv) if(z<0) nega+=-z; else posi+=z;
		return cost + max(nega, posi);
	}

	int cost_single(string r)
	{
		int cost = 0;
		int d = 0;
		for(char c: r) {
			d += (c=='(' ? +1 : -1);
			if(d==-1) ++cost, d=+1;
		}
		return cost;
	}
};

// BEGIN CUT HERE
#include <ctime>
double start_time; string timer()
 { ostringstream os; os << " (" << int((clock()-start_time)/CLOCKS_PER_SEC*1000) << " msec)"; return os.str(); }
template<typename T> ostream& operator<<(ostream& os, const vector<T>& v)
 { os << "{ ";
   for(typename vector<T>::const_iterator it=v.begin(); it!=v.end(); ++it)
   os << '\"' << *it << '\"' << (it+1==v.end() ? "" : ", "); os << " }"; return os; }
void verify_case(const int& Expected, const int& Received) {
 bool ok = (Expected == Received);
 if(ok) cerr << "PASSED" << timer() << endl;  else { cerr << "FAILED" << timer() << endl;
 cerr << "\to: \"" << Expected << '\"' << endl << "\tx: \"" << Received << '\"' << endl; } }
#define CASE(N) {cerr << "Test Case #" << N << "..." << flush; start_time=clock();
#define END	 verify_case(_, ParenthesesDiv1Medium().minSwaps(s, L, R));}
int main(){

CASE(0)
	string s = ")("; 
	int L_[] = {0,0,0,0};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {1,1,1,1};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = 1; 
END
CASE(1)
	string s = "(())"; 
	int L_[] = {0,2};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {1,3};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = 1; 
END
CASE(2)
	string s = "(((())"; 
	int L_[] = {0,2};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {1,3};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = 2; 
END
CASE(3)
	string s = "((((((((("; 
	int L_[] = {0,2};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {1,3};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = -1; 
END
CASE(4)
	string s = "()()()()"; 
	int L_[] = {0,0,0,0,2,2,2,4,4,6};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {1,3,5,7,3,5,7,5,7,7};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = 0; 
END
CASE(5)
	string s = ")()(()()((())()()()()()()))(()())()()()("; 
	int L_[] = {3,5,17,25,35};
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = {12,10,30,30,38};
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = 3; 
END
/*
CASE(6)
	string s = ; 
	int L_[] = ;
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = ;
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = ; 
END
CASE(7)
	string s = ; 
	int L_[] = ;
	  vector <int> L(L_, L_+sizeof(L_)/sizeof(*L_)); 
	int R_[] = ;
	  vector <int> R(R_, R_+sizeof(R_)/sizeof(*R_)); 
	int _ = ; 
END
*/
}
// END CUT HERE
