Is the balanced parentheses language inherently ambiguous? I have this grammar:

$S\rightarrow SS |S \rightarrow(S)|S\rightarrow\epsilon  $

Now this grammar generates the set of balanced parentheses. But this grammar is ambiguous. I am trying to find an unambiguous grammar for this language but all in vain. This has led me to believe that the language is inherently ambiguous. Am I true? If not please provide an unambiguous grammar for this language.
$$S \rightarrow (S)S$$
$$S \rightarrow \epsilon$$

Generalising this to other Dyck languages is left as an exercise.