#include <fstream>
#include <iostream>
#include <map>
#include <stack>
#include <string>

const char EOL('\n');
const std::map<std::string, std::string> BRACKET = {
    { "(", ")" },
    { "[", "]" },
    { "{", "}" },
    { "<", ">" },
    { "(*", "*)" }
};

bool is_begin_bracket(const std::string & data, int & bracket_size)
{
    if (BRACKET.find(data) != BRACKET.end())
    {
        bracket_size = 2;
        return true;
    }

    if (BRACKET.find(data.substr(0, 1)) != BRACKET.end())
    {
        bracket_size = 1;
        return true;
    }

    return false;
}

bool is_end_bracket(const std::string & data, int & bracket_size)
{
    for (auto & iter : BRACKET)
    {
        if (iter.second == data)
        {
            bracket_size = 2;
            return true;
        }
        else if (iter.second == data.substr(0, 1))
        {
            bracket_size = 1;
            return true;
        }
    }

    return false;
}

bool validate(const std::string & line_with_eol, int & fail_index)
{
    std::stack<std::string> bracket_stack;
    int pos = 0;
    for (size_t i = 0; i < line_with_eol.length() - 1; ++i)
    {
        std::string checking_data = line_with_eol.substr(i, 2);
        int bracket_size = 0;
        if (is_begin_bracket(checking_data, bracket_size))
        {
            bracket_stack.push((bracket_size != 1) ? checking_data : checking_data.substr(0, 1));
        }
        else if (is_end_bracket(checking_data, bracket_size))
        {
            std::string end_bracket = (bracket_size != 1) ? checking_data : checking_data.substr(0, 1);
            if (bracket_stack.empty() ||
                BRACKET.find(bracket_stack.top())->second != end_bracket)
            {
                fail_index = pos + 1;
                return false;
            }

            bracket_stack.pop();
        }

        if (bracket_size == 2)
        {
            ++i;
        }

        ++pos;
    }

    if (!bracket_stack.empty())
    {
        fail_index = pos + 1;
        return false;
    }

    return true;
}

int main()
{
    std::ifstream input("input.txt");
    std::ofstream output("output.txt");

    std::string line;
    while (std::getline(input, line, EOL))
    {
        int fail_index = 0;
        if (validate(line + EOL, fail_index))
        {
            output << "YES" << EOL;
        }
        else
        {
            output << "NO " << fail_index << EOL;
        }
    }
}