#include<iostream>
#include<string>
#include<stack>
using namespace std;
int main()
{
stack<char> str2;
char str[1200];
int t = 1;
cin.getline(str,1000);
int num1 = 0,num2 = 0;
for(int i = 0;i<strlen(str);i++){
if(str[i]=='('||str[i]=='{'||str[i]=='['){
num1++;
str2.push(str[i]);
}
else if(str[i]==')'||str[i]=='}'||str[i]==']'){
num2++;
if(str2.empty()){
t = 0;
}
if(!str2.empty()){
char c = str2.top();
if(c=='('&&str[i]!=')'||c=='{'&&str[i]!='}'||c=='['&&str[i]!=']'){
t = 0;
}
str2.pop();
}
}
}
if(num1!=num2){
t = 0;
}
if(t==1){
printf("%d %d\n",num1,num2);
printf("YES\n");
}
else if(t==0){
printf("%d %d\n",num1,num2);
printf("NO\n");
}
return 0;
}