B757 Captain reported failure to make a crossing restriction on the RNAV RNP 35R approach in DEN; following a late clearance change.

Narrative

Arriving into DEN on the KOHOE3 STAR. ATC instructed us to maintain 280 knots and delete the published speeds on the arrival. Just prior to FFATT intersection ATC told us to slow to 210 knots. At this point we had RWY 35R in sight and we began slowing expecting a visual approach. A very short time later (less than 1 minute) we were cleared via the RNAV RNP 35R approach. We were not anticipating this; so my First Officer became task saturated with programming the FMC. I was flying and also took the radios as well. At that point I knew we would not make the 11;000 crossing restriction at DOGGG. I did not advise ATC in a timely fashion and we crossed DOGGG at approximately 11;600 feet. ATC issued a new descent clearance to 8000 and a heading just as we crossed DOGGG. The flight made an uneventful approach and landing on 35R.