The roots of polynomial $ p(s) $ are:
$$ \begin{aligned}s_1 &= 0.8019\\[1 em]s_2 &= -0.555\\[1 em]s_3 &= -2.247 \end{aligned} $$Polynomial $ s^3+2s^2-s-1 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.