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.OutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.PrintWriter;
import java.util.HashMap;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.Stack;
import java.util.StringTokenizer;
import java.util.Map;
import java.io.BufferedReader;
import java.io.InputStream;

/**
 * Built using CHelper plug-in
 * Actual solution is at the top
 *
 * @author Aldo Culquicondor
 */
public class Main {
    public static void main(String[] args) {
        InputStream inputStream = System.in;
        OutputStream outputStream = System.out;
        InputReader in = new InputReader(inputStream);
        PrintWriter out = new PrintWriter(outputStream);
        TaskC solver = new TaskC();
        solver.solve(1, in, out);
        out.close();
    }

    static class TaskC {
        public void solve(int testNumber, InputReader in, PrintWriter out) {
            Map<Character, Character> m = new HashMap<>();
            m.put(')', '(');
            m.put('>', '<');
            m.put('}', '{');
            m.put(']', '[');

            Stack<Character> s = new Stack<>();
            String input = in.next();
            int ans = 0;
            for (char c : input.toCharArray()) {
                if (m.containsKey(c)) {
                    if (s.empty()) {
                        ans = -1;
                        break;
                    } else if (s.pop() != m.get(c)) {
                        ++ans;
                    }
                } else {
                    s.push(c);
                }
            }
            if (ans == -1 || !s.empty())
                out.println("Impossible");
            else
                out.println(ans);
        }

    }

    static class InputReader {
        private BufferedReader reader;
        private StringTokenizer tokenizer;

        public InputReader(InputStream stream) {
            reader = new BufferedReader(new InputStreamReader(stream), 65536);
            tokenizer = null;
        }

        public String next() {
            String line;
            while (tokenizer == null || !tokenizer.hasMoreTokens()) {
                try {
                    line = reader.readLine();
                } catch (IOException e) {
                    throw new RuntimeException(e);
                }
                if (line == null)
                    throw new UnknownError();
                tokenizer = new StringTokenizer(line);
            }
            return tokenizer.nextToken();
        }

    }
}

