import java.util.*;

public class Main {
    static int idx;
    static int[] ans = new int[100010];
    static ArrayList<int[]> list = new ArrayList<>();

    public static void main(String[] args) {

        Scanner sc = new Scanner(System.in);

        int n = Integer.parseInt(sc.nextLine());
        char[] chs = sc.nextLine().toCharArray();

        Stack<int[]> stack = new Stack<>();

        for (int i = 0; i < 2 * n; i++) {
            if (chs[i] == '(') {
                stack.push(new int[] {++idx, (int)chs[i]});
            }
            else {
                if (stack.isEmpty()) {
                    System.out.println(-1);
                    return;
                }
                int[] t = stack.pop();
                list.add(new int[]{t[0], stack.size() + 1});
            }
        }

        if (!stack.isEmpty()) {
            System.out.println(-1);
            return;
        }

        list.sort((o1, o2) -> o1[0] - o2[0]);
        for (int[] item : list) {
            System.out.print(n - item[1] + " ");
        }
    }
}