Finding angle between two hyperplanes given basis vectors

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There is a Euclidean space $\mathbb{R}^n$. In it there live two hyperplanes of dimension $m$ each. Both hyperplanes pass through the origin $\vec{0}$. The hyperplanes are defined by the corresponding orthonormal basis vector sets $\{\vec{a}_i\}$ and $\{\vec{b}_i\}$ where $i \in \{1, 2, ..., m\}$. What is the expression for the angle between the two hyperplanes? If it is not possible to express their relationship with just one angle, how many angles are necessary, and how to compute those?