gets
s = gets.chop
ans = [-1] * s.size
stk = []
s.chars.each.with_index do |c, i|
  if c == ?(
    stk << i
  else
    ans[stk[-1]] = i
    ans[i] = stk[-1]
    stk.pop
  end
end
puts ans.map(&:succ)