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.math.*;
import java.util.*;
import java.util.stream.*;

@SuppressWarnings("unchecked")
public class P612C {

  boolean openBrace(char c) {
    return ((c == '(') || (c == '{') || (c == '[') || (c == '<'));
  }

  boolean compatibleBrace(char o, char c) {
    return (((o == '(') && (c == ')')) || ((o == '{') && (c == '}')) ||
            ((o == '[') && (c == ']')) || ((o == '<') && (c == '>')));
  }

  public void run() throws Exception {
    int k = 0;
    ArrayDeque<Character> s = new ArrayDeque();

    for (char c : next().toCharArray()) {
      if (openBrace(c)) {
        s.addLast(c);
      } else {
        if (s.size() == 0) {
          println("Impossible");
          return;
        }
        k += compatibleBrace(s.pollLast(), c) ? 0 : 1;
      }
    }

    println((s.size() != 0) ? "Impossible" : k);
  }

  public static void main(String... args) throws Exception {
    br = new BufferedReader(new InputStreamReader(System.in));
    pw = new PrintWriter(new BufferedOutputStream(System.out));
    new P612C().run();
    br.close();
    pw.close();
    System.err.println("\n[Time : " + (System.currentTimeMillis() - startTime) + " ms]");
  }

  static long startTime = System.currentTimeMillis();
  static BufferedReader br;
  static PrintWriter pw;
  StringTokenizer stok;

  String nextToken() throws IOException {
    while (stok == null || !stok.hasMoreTokens()) {
      String s = br.readLine();
      if (s == null) { return null; }
      stok = new StringTokenizer(s);
    }
    return stok.nextToken();
  }

  void print(byte b) { print("" + b); }
  void print(int i) { print("" + i); }
  void print(long l) { print("" + l); }
  void print(double d) { print("" + d); }
  void print(char c) { print("" + c); }
  void print(Object o) {
    if (o instanceof int[]) { print(Arrays.toString((int [])o));
    } else if (o instanceof long[]) { print(Arrays.toString((long [])o));
    } else if (o instanceof char[]) { print(Arrays.toString((char [])o));
    } else if (o instanceof byte[]) { print(Arrays.toString((byte [])o));
    } else if (o instanceof short[]) { print(Arrays.toString((short [])o));
    } else if (o instanceof boolean[]) { print(Arrays.toString((boolean [])o));
    } else if (o instanceof float[]) { print(Arrays.toString((float [])o));
    } else if (o instanceof double[]) { print(Arrays.toString((double [])o));
    } else if (o instanceof Object[]) { print(Arrays.toString((Object [])o));
    } else { print("" + o); }
  }
  void print(String s) { pw.print(s); }
  void println() { println(""); }
  void println(byte b) { println("" + b); }
  void println(int i) { println("" + i); }
  void println(long l) { println("" + l); }
  void println(double d) { println("" + d); }
  void println(char c) { println("" + c); }
  void println(Object o) { print(o); println(); }
  void println(String s) { pw.println(s); }
  int nextInt() throws IOException { return Integer.parseInt(nextToken()); }
  long nextLong() throws IOException { return Long.parseLong(nextToken()); }
  double nextDouble() throws IOException { return Double.parseDouble(nextToken()); }
  char nextChar() throws IOException { return (char) (br.read()); }
  String next() throws IOException { return nextToken(); }
  String nextLine() throws IOException { return br.readLine(); }
  int [] readInt(int size) throws IOException {
    int [] array = new int [size];
    for (int i = 0; i < size; i++) { array[i] = nextInt(); }
    return array;
  }
  long [] readLong(int size) throws IOException {
    long [] array = new long [size];
    for (int i = 0; i < size; i++) { array[i] = nextLong(); }
    return array;
  }
  double [] readDouble(int size) throws IOException {
    double [] array = new double [size];
    for (int i = 0; i < size; i++) { array[i] = nextDouble(); }
    return array;
  }
  String [] readLines(int size) throws IOException {
    String [] array = new String [size];
    for (int i = 0; i < size; i++) { array[i] = nextLine(); }
    return array;
  }
}