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.BufferedReader;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.util.*;

public class Main {
    public static void main(String[] args) {
//     Test.testing();
        ConsoleIO io = new ConsoleIO();
        new Main(io).solve();
        io.flush();
    }
    ConsoleIO io;
    Main(ConsoleIO io) {
        this.io = io;
    }

    ArrayList<ArrayList<Edge>> gr1;
    ArrayList<ArrayList<Integer>> gr2;
    boolean[] visit;
    //

    class Edge{
        public Edge(int u,int v) {
            this.u = u;
            this.v = v;
        }
        public int u;
        public int v;
    }

    int n,m,k,fn;
    public void solve() {
        String a = "[({<";
        String b = "])}>";

        char[] s = io.readLine().toCharArray();
        Stack<Integer> open = new Stack<>();
        int res = 0;
        for(int i = 0;i<s.length;i++){
            char c = s[i];
            int k = a.indexOf(c);
            if(k==-1){
                k = b.indexOf(c);
                if(open.size()==0){
                    io.writeLine("Impossible");
                    return;
                }
                int v = open.pop();
                if(v!=k)res++;
            }
            else{
                open.push(k);
            }
        }
        if(open.size()!=0)
            io.writeLine("Impossible");
        else
            io.writeLine(res+"");
    }

}

class ConsoleIO {
    BufferedReader br;
    PrintWriter out;
    public ConsoleIO(){br = new BufferedReader(new InputStreamReader(System.in));out = new PrintWriter(System.out);}
    public void flush(){this.out.close();}
    public void writeLine(String s) {this.out.println(s);}
    public void writeInt(int a) {this.out.print(a);this.out.print(' ');}
    public void writeWord(String s){
        this.out.print(s);
    }
    public String readLine() {try {return br.readLine();}catch (Exception ex){ return "";}}
    public long readLong() {
        return Long.parseLong(this.readLine());
    }
    public int readInt() {
        return Integer.parseInt(this.readLine().trim());
    }
    public long[] readLongArray() {
        String[]n=this.readLine().trim().split(" ");long[]r=new long[n.length];
        for(int i=0;i<n.length;i++)r[i]=Long.parseLong(n[i]);
        return r;
    }
    public int[] readIntArray() {
        String[]n=this.readLine().trim().split("\\s+");int[]r=new int[n.length];
        for(int i=0;i<n.length;i++)r[i]=Integer.parseInt(n[i]);
        return r;
    }
}

