# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/(?x) # Allow comments in regex (ignore whitespace)
(?: # Repeat *
[^(|)]*+ # Match every char except ( ) or |
( # 1. Group 1
\( # Opening paren
(?: # chars inside:
[^()]++ # a. everything inside parens except nested parens
| # or
(?1) # b. nested parens (recurse group 1)
) #
\) # Until closing paren.
)?+ # (end of group 1)
)*+ #
\K # Keep text out of match
\| # Match a pipe//g;t' <<< "example|example (example(example))|example|example|example(example|example|example(example|example))|example"
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for SED, please visit: https://www.gnu.org/software/sed/manual/html_node/The-_0022s_0022-Command.html