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
#include <bits/stdc++.h>
using namespace std;
int fun(string s) {
  int l = 0;
  for (int i = 0; i < s.length(); i++) {
    if (s[i] == '{' || s[i] == '(' || s[i] == '[' || s[i] == '<') l++;
    if (s[i] == '}' || s[i] == ')' || s[i] == ']' || s[i] == '>') l--;
    if (l < 0) return -1;
  }
  if (l != 0) return -1;
  stack<char> st;
  int ans = 0;
  for (int i = 0; i < s.length(); i++) {
    if (s[i] == '{' || s[i] == '(' || s[i] == '[' || s[i] == '<') st.push(s[i]);
    if (s[i] == '}' || s[i] == ')' || s[i] == ']' || s[i] == '>') {
      if (s[i] == ')' && st.top() != '(')
        ans++;
      else if (s[i] == ']' && st.top() != '[')
        ans++;
      else if (s[i] == '}' && st.top() != '{')
        ans++;
      else if (s[i] == '>' && st.top() != '<')
        ans++;
      st.pop();
    }
  }
  return ans;
}
int main() {
  string s;
  cin >> s;
  int ans;
  ans = fun(s);
  if (ans == -1)
    cout << "Impossible";
  else {
    cout << ans;
  }
}
