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.util.*;
import java.io.*;

/**
 *
 * @author umang
 */

public class C612 {
    
    public static int mod = 1000000007;

    public static void main(String[] args) {
 
        InputReader in = new InputReader(System.in);
        PrintWriter out = new PrintWriter(System.out);
        
        String str=in.readString();
        Stack<Character> st=new Stack<>();
        boolean f=true;
        int ans=0;
        HashMap<Character,Character> map=new HashMap<>();
        map.put('}','{');
        map.put(']','[');
        map.put(')','(');
        map.put('>','<');
        
        for(int i=0;i<str.length();i++){
            char c=str.charAt(i);
            if(c=='[' || c=='{' || c=='<' || c=='('){
                st.push(c);
            }
            else{
                if(st.isEmpty()){
                    f=false;
                    break;
                }
                if(st.peek()!=map.get(c)) ans++;
                st.pop();
            }
        }        
        if(!st.isEmpty()) f=false;
        
        if(f) out.println(ans);
        else out.println("Impossible");
        out.close();
    }
    
    static class Pair{
		int x;
		int y;
		Pair(int x,int y){
			this.x=x;
			this.y=y;
		}
	}
    
    public static class CompareTable implements Comparator{
        public int compare(Object o1,Object o2){
            Pair p1 = (Pair) o1;
            Pair p2 = (Pair) o2;
            
            if(p1.x>p2.x)
                return -1;
            else if(p1.x<p2.x)
                return 1;
            else{
                if(p1.y<p2.y)
                    return -1;
                else if(p1.y>p2.y)
                    return 1;
                else
                    return 0;
            }
        }
    }
    
    public static boolean isPal(String s){
        for(int i=0, j=s.length()-1;i<=j;i++,j--){
                if(s.charAt(i)!=s.charAt(j)) return false;
        }
        return true;
    }
    public static String rev(String s){
		StringBuilder sb=new StringBuilder(s);
		sb.reverse();
		return sb.toString();
    }
    
    public static long gcd(long x,long y){
	if(x%y==0)
		return y;
	else
		return gcd(y,x%y);
    }
    
    public static int gcd(int x,int y){
	if(x%y==0)
		return y;
	else 
		return gcd(y,x%y);
    }
    
    public static long gcdExtended(long a,long b,long[] x){
        
        if(a==0){
            x[0]=0;
            x[1]=1;
            return b;
        }
        long[] y=new long[2];
        long gcd=gcdExtended(b%a, a, y);
        
        x[0]=y[1]-(b/a)*y[0];
        x[1]=y[0];
        
        return gcd;
    }
    
    public static int abs(int a,int b){
	return (int)Math.abs(a-b);
    }

    public static long abs(long a,long b){
	return (long)Math.abs(a-b);
    }
    
    public static int max(int a,int b){
	if(a>b)
		return a;
	else
		return b;
    }

    public static int min(int a,int b){
	if(a>b)
		return b;
	else 
		return a;
    }
    
    public static long max(long a,long b){
	if(a>b)
		return a;
	else
		return b;
    }

    public static long min(long a,long b){
	if(a>b)
		return b;
	else 
		return a;
    }

    public static long pow(long n,long p,long m){
	 long  result = 1;
	  if(p==0)
	    return 1;
	if (p==1)
	    return n;
	while(p!=0)
	{
	    if(p%2==1)
	        result *= n;
	    if(result>=m)
	    result%=m;
	    p >>=1;
	    n*=n;
	    if(n>=m)
	    n%=m;
	}
	return result;
    }
    
    public static long pow(long n,long p){
	long  result = 1;
	  if(p==0)
	    return 1;
	if (p==1)
	    return n;
	while(p!=0)
	{
	    if(p%2==1)
	        result *= n;	    
	    p >>=1;
	    n*=n;	    
	}
	return result;
    }
    
	static class InputReader {

		private final InputStream stream;
		private final byte[] buf = new byte[8192];
		private int curChar, snumChars;
		private SpaceCharFilter filter;

		public InputReader(InputStream stream) {
			this.stream = stream;
		}

		public int snext() {
			if (snumChars == -1)
				throw new InputMismatchException();
			if (curChar >= snumChars) {
				curChar = 0;
				try {
					snumChars = stream.read(buf);
				} catch (IOException e) {
					throw new InputMismatchException();
				}
				if (snumChars <= 0)
					return -1;
			}
			return buf[curChar++];
		}

		public int nextInt() {
			int c = snext();
			while (isSpaceChar(c)) {
				c = snext();
			}
			int sgn = 1;
			if (c == '-') {
				sgn = -1;
				c = snext();
			}
			int res = 0;
			do {
				if (c < '0' || c > '9')
					throw new InputMismatchException();
				res *= 10;
				res += c - '0';
				c = snext();
			} while (!isSpaceChar(c));
			return res * sgn;
		}

		public long nextLong() {
			int c = snext();
			while (isSpaceChar(c)) {
				c = snext();
			}
			int sgn = 1;
			if (c == '-') {
				sgn = -1;
				c = snext();
			}
			long res = 0;
			do {
				if (c < '0' || c > '9')
					throw new InputMismatchException();
				res *= 10;
				res += c - '0';
				c = snext();
			} while (!isSpaceChar(c));
			return res * sgn;
		}

		public int[] nextIntArray(int n) {
			int a[] = new int[n];
			for (int i = 0; i < n; i++) {
				a[i] = nextInt();
			}
			return a;
		}

		public long[] nextLongArray(int n) {
			long a[] = new long[n];
			for (int i = 0; i < n; i++) {
				a[i] = nextInt();
			}
			return a;
		}
                
		public String readString() {
			int c = snext();
			while (isSpaceChar(c)) {
				c = snext();
			}
			StringBuilder res = new StringBuilder();
			do {
				res.appendCodePoint(c);
				c = snext();
			} while (!isSpaceChar(c));
			return res.toString();
		}

		public String nextLine() {
			int c = snext();
			while (isSpaceChar(c))
				c = snext();
			StringBuilder res = new StringBuilder();
			do {
				res.appendCodePoint(c);
				c = snext();
			} while (!isEndOfLine(c));
			return res.toString();
		}

		public boolean isSpaceChar(int c) {
			if (filter != null)
				return filter.isSpaceChar(c);
			return c == ' ' || c == '\n' || c == '\r' || c == '\t' || c == -1;
		}

		private boolean isEndOfLine(int c) {
			return c == '\n' || c == '\r' || c == -1;
		}

		public interface SpaceCharFilter {
			public boolean isSpaceChar(int ch);
		}
	}
}    

