You are given string s consists of opening and closing brackets of four kinds <>, {}, [], (). There are two types of brackets: opening and closing. You can replace any bracket by another of the same type. For example, you can replace < by the bracket {, but you can't replace it by ) or >.

The following definition of a regular bracket sequence is well-known, so you can be familiar with it.

Let's define a regular bracket sequence (RBS). Empty string is RBS. Let s1 and s2 be a RBS then the strings <s1>s2, {s1}s2, [s1]s2, (s1)s2 are also RBS.

For example the string "[[(){}]<>]" is RBS, but the strings "[)()" and "][()()" are not.

Determine the least number of replaces to make the string s RBS.

Input

The only line contains a non empty string s, consisting of only opening and closing brackets of four kinds. The length of s does not exceed 106.

Output

If it's impossible to get RBS from s print Impossible.

Otherwise print the least number of replaces needed to get RBS from s.

Examples

Input

[&lt;}){}


Output

2

Input

{()}[]


Output

0

Input

]]


Output

Impossible
import java.io.*;
import java.util.Stack;
import java.util.StringTokenizer;

/**
 * Created by peacefrog on 12/23/15.
 * Time : 9:49 PM
 */

public class Task_C {
	final boolean ONLINE_JUDGE = System.getProperty("ONLINE_JUDGE") != null;
	PrintWriter out;
	long timeBegin, timeEnd;

	public void runIO() throws IOException {
		timeBegin = System.currentTimeMillis();

		InputStream inputStream;
		OutputStream outputStream;


		if (ONLINE_JUDGE) {
			inputStream = System.in;
			Reader.init(inputStream);
			outputStream = System.out;

			out = new PrintWriter(outputStream);

		} else {
			inputStream = new FileInputStream("/home/peacefrog/Dropbox/IdeaProjects/Problem Solving/input");
			Reader.init(inputStream);
			out = new PrintWriter(System.out);
		}

		solve();

		out.flush();
		out.close();
		timeEnd = System.currentTimeMillis();

		System.err.println("Time = " + (timeEnd - timeBegin));

	}

	/*
	 * Start Solution Here
	 */

	boolean checkRight(char c) {
		return c == '>' || c == '}' || c == ']' || c == ')';

	}

	boolean checkLeft(char c) {
		return c == '<' || c == '{' || c == '[' || c == '(';
	}
	boolean matchType(char s , char c )
	{
		if(s == '<' && c== '>') return true;
		if(s == '[' && c== ']') return true;
		if(s == '{' && c== '}') return true;
		if(s == '(' && c== ')') return true;

		return false;
	}
	private void solve() throws IOException {
		String s = Reader.next();

		Stack<Character> br = new Stack<>();
		int change = 0 ;
		for (int i = 0; i < s.length(); i++) {
			if(br.size()==0 && checkRight(s.charAt(i)))
			{
				out.println("Impossible");
				return;
			}
			else if(checkLeft(s.charAt(i))) br.add(s.charAt(i));
			else if(checkRight(s.charAt(i)))
			{
				if(matchType(br.peek() , s.charAt(i)))
				{
					br.pop();
				}
				else {
					change++;
					br.pop();
				}
			}
		}
		if(!br.isEmpty())
		{
			out.println("Impossible");
			return;
		}
		out.println(change);

	}

	public static void main(String[] args) throws IOException {

		new Task_C().runIO();
	}

	static class Reader {
		static BufferedReader reader;
		static StringTokenizer tokenizer;

		/**
		 * call this method to initialize reader for InputStream
		 */
		static void init(InputStream input) {
			reader = new BufferedReader(new InputStreamReader(input));
			tokenizer = new StringTokenizer("");
		}

		/**
		 * get next word
		 */
		static String next() {
			while (tokenizer == null || !tokenizer.hasMoreTokens()) {
				try {
					tokenizer = new StringTokenizer(reader.readLine());
				} catch (IOException e) {
					throw new RuntimeException(e);
				}
			}
			return tokenizer.nextToken();
		}

		static String nextLine() {
			try {
				return reader.readLine();
			} catch (IOException e) {
				e.printStackTrace();
			}
			return "";
		}

		static int nextInt() throws IOException {
			return Integer.parseInt(next());
		}

		static long nextLong() throws IOException {
			return Long.parseLong(next());
		}

		static double nextDouble() throws IOException {
			return Double.parseDouble(next());
		}

		static long[] nextLongArray(int n) throws IOException {
			long[] arr = new long[n];
			for (int i = 0; i < n; i++) {
				arr[i] = nextLong();
			}

			return arr;
		}

		static int[] nextIntArray(int n) throws IOException {
			int[] arr = new int[n];
			for (int i = 0; i < n; i++) {
				arr[i] = nextInt();
			}

			return arr;
		}
	}

}

