import sys
sys.setrecursionlimit(10**6)
N,Q = map(int,input().split())
S = [0]+list(input())
V = N//2
K = 0
while 2**K<V:
    K += 1
dp = [[0 for _ in range(K+1)] for _ in range(V+1)]
T = [[] for _ in range(V+1)]
dist = [0]*(N+1)
ind = 0
T[0].append(0)
ind += 1
indv= 0
def dfs(v):
    global ind,indv
    if S[ind]=="(":
        indv += 1
        dp[indv][0] = v
        dist[indv] = dist[v]+1
        T[indv].append(ind)
        ind += 1
        if ind>N:return
        dfs(indv)
    else:
        u = dp[v][0]
        T[v].append(ind)
        ind += 1
        if ind>N:return
        dfs(u)
dfs(0)
T[0].append(ind)
invT = [0]*(N+2)
for v in range(V+1):
    i0,i1 = T[v]
    invT[i0] = v
    invT[i1] = v
for k in range(1,K+1):
    for i in range(1,V+1):
        dp[i][k] = dp[dp[i][k-1]][k-1]
def lca(u,v):
    if dist[u]>dist[v]:
        u,v = v,u
    for k in range(K,-1,-1):
        if (dist[v]-dist[u])>>k & 1:
            v = dp[v][k]
    if u==v:
        return u
    for k in range(K,-1,-1):
        if dp[u][k]!=dp[v][k]:
            u = dp[u][k]
            v = dp[v][k]
    return dp[u][0]
for _ in range(Q):
    x,y = map(int,input().split())
    u = invT[x]
    v = invT[y]
    if u==v:
        print(*T[u])
    else:
        a = lca(u,v)
        if a==0:
            print(-1)
        else:
            print(*T[a])