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
string = raw_input()
ob = ['<', '{', '[', '(']    #open brackets
cb = ['>', '}', ']', ')']    #close brackets
stack = []
miss = 0
for s in string:
    if s in ob:
        stack.append(ob.index(s))
    elif len(stack) <= 0:
        print "Impossible"
        break
    elif stack.pop() != cb.index(s):
        miss += 1
else:
    if len(stack) != 0:
        print "Impossible"
    else:
        print miss