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 Main {

    static boolean isOpening(char x) {
        return x == '<' || x == '{' || x == '[' || x == '(';
    }

    static char getClosing(char x) {
        switch (x) {
            case '<':
                return '>';
            case '{':
                return '}';
            case '[':
                return ']';
            case '(':
                return ')';
        }

        throw new RuntimeException();
    }

    public static void main(String[] args) throws IOException {
        MyScanner in = new MyScanner();

        String s = in.next();
        Stack<Character> stack = new Stack<>();

        int ans = 0;
        for (char c : s.toCharArray()) {
            if (isOpening(c)) {
                stack.push(c);
            } else {
                if (stack.empty()) {
                    System.out.println("Impossible");
                    return;
                }

                char cur = stack.pop();
                if (getClosing(cur) != c)
                    ++ans;
            }
        }

        if (!stack.empty()) {
            System.out.println("Impossible");
            return;
        }

        System.out.println(ans);
    }
}


class MyScanner {

    private final BufferedReader br;
    private StringTokenizer st;
    private String last;

    public MyScanner() {
        br = new BufferedReader(new InputStreamReader(System.in));
    }

    public MyScanner(String path) throws IOException {
        br = new BufferedReader(new FileReader(path));
    }

    public MyScanner(String path, String decoder) throws IOException {
        br = new BufferedReader(new InputStreamReader(new FileInputStream(path), decoder));
    }

    String next() throws IOException {
        while (st == null || !st.hasMoreElements())
            st = new StringTokenizer(br.readLine());
        last = null;
        return st.nextToken();
    }

    String nextLine() throws IOException {
        st = null;
        return (last == null) ? br.readLine() : last;
    }

    boolean hasNext() {
        if (st != null && st.hasMoreElements())
            return true;

        try {
            while (st == null || !st.hasMoreElements()) {
                last = br.readLine();
                st = new StringTokenizer(last);
            }
        } catch (Exception e) {
            return false;
        }

        return true;
    }

    String[] nextStrings(int n) throws IOException {
        String[] arr = new String[n];
        for (int i = 0; i < n; i++)
            arr[i] = next();
        return arr;
    }

    String[] nextLines(int n) throws IOException {
        String[] arr = new String[n];
        for (int i = 0; i < n; i++)
            arr[i] = nextLine();
        return arr;
    }

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

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

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

    int[][] next2Ints(int n, int m) throws IOException {
        int[][] arr = new int[n][m];
        for (int i = 0; i < n; i++)
            for (int j = 0; j < m; j++)
                arr[i][j] = nextInt();
        return arr;
    }

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

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

    long[][] next2Longs(int n, int m) throws IOException {
        long[][] arr = new long[n][m];
        for (int i = 0; i < n; i++)
            for (int j = 0; j < m; j++)
                arr[i][j] = nextLong();
        return arr;
    }

    double nextDouble() throws IOException {
        return Double.parseDouble(next().replace(',', '.'));
    }

    double[] nextDoubles(int size) throws IOException {
        double[] arr = new double[size];
        for (int i = 0; i < size; i++)
            arr[i] = nextDouble();
        return arr;
    }

    boolean nextBool() throws IOException {
        String s = next();
        if (s.equalsIgnoreCase("true") || s.equals("1"))
            return true;

        if (s.equalsIgnoreCase("false") || s.equals("0"))
            return false;

        throw new IOException("Boolean expected, String found!");
    }
}