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.*;
public class C612 {
public static void main(String[] args) throws IOException {
	input.init(System.in);
	PrintWriter out = new PrintWriter(System.out);
	String s = input.next();
	int n = s.length();
	int res = 0;
	boolean good = true;
	Stack<Character> stk = new Stack<Character>();
	char[] match = new char[256];
	Arrays.fill(match, '.');
	match[')'] = '(';
	match[']'] = '[';
	match['>'] = '<';
	match['}'] = '{';
	for(int i = 0; i<n; i++)
	{
		char c = s.charAt(i);
		if(match[c] == '.') stk.add(c);
		else
		{
			if(stk.isEmpty())
			{
				good = false;
				break;
			}
			if(stk.pop() != match[c]) res++;
		}
	}
	if(!stk.isEmpty()) good = false;
	if(good) out.println(res);
	else out.println("Impossible");
	out.close();
}

public static class input {
	static BufferedReader reader;
	static StringTokenizer tokenizer;

	static void init(InputStream input) {
		reader = new BufferedReader(new InputStreamReader(input));
		tokenizer = new StringTokenizer("");
	}

	static String next() throws IOException {
		while (!tokenizer.hasMoreTokens())
			tokenizer = new StringTokenizer(reader.readLine());
		return tokenizer.nextToken();
	}

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

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

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

