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
s = input()
open = '<', '(', '[', '{'
close = '>', ')', ']', '}'
resp = {close[i]: open[i] for i in (0, 1, 2, 3)}
cnt = 0
st = []
flag = True
for c in s:
    if c in open:
        st.append(c)
    elif st and st[-1] == resp[c]:
        st.pop()
    elif st:
        st.pop()
        cnt += 1
    else:
        flag = False
        break
if st: flag = False
print(cnt if flag else 'Impossible')
    

