Efficiently return the index of the first value satisfying condition in array

I need to find the index of the first value in a 1d NumPy array, or Pandas numeric series, satisfying a condition. The array is large and the index may be near the start or end of the array, or the condition may not be met at all. I can’t tell in advance which is more likely. If the condition is not met, the return value should be -1. I’ve considered a few approaches.