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.io.OutputStream;
import java.io.IOException;
import java.util.InputMismatchException;
import java.util.Stack;
import java.io.FileNotFoundException;
import java.io.File;
import java.util.Vector;
import java.io.Writer;
import java.io.UnsupportedEncodingException;
import java.io.InputStream;

/**
 * Built using CHelper plug-in Actual solution is at the top
 *
 * @author MaxHeap
 */
public class Main {

  public static void main(String[] args) {
    InputStream inputStream = System.in;
    OutputStream outputStream = System.out;
    InputReader in = new InputReader(inputStream);
    OutputWriter out = new OutputWriter(outputStream);
    CReplaceToMakeRegularBracketSequence solver = new CReplaceToMakeRegularBracketSequence();
    solver.solve(1, in, out);
    out.close();
  }

  static class CReplaceToMakeRegularBracketSequence {

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

    char match(char c) {
      switch (c) {
        case '(':
          return ')';
        case '{':
          return '}';
        case '[':
          return ']';
        case '<':
          return '>';
        case ')':
          return '(';
        case '}':
          return '{';
        case ']':
          return '[';
        case '>':
          return '<';
        default:
          throw new RuntimeException();
      }
    }

    public void solve(int testNumber, InputReader in, OutputWriter out) {
      char[] s = in.nextCharArray();
      Stack<Character> st = new Stack<>();
      int ans = 0;
      for (int i = 0; i < s.length; ++i) {
        char cur = s[i];
        if (isOpen(cur)) {
          st.add(cur);
        } else {
          if (st.isEmpty()) {
            out.println("Impossible");
            return;
          }
          char other = st.peek();
          if (isOpen(other)) {
            if (match(other) != cur) {
              ++ans;
            }
            st.pop();
          } else {
            out.println("Impossible");
            return;
          }
        }
      }
      out.println(st.isEmpty() ? ans : "Impossible");
    }

  }

  static class OutputWriter extends PrintWriter {

    public OutputWriter(OutputStream os, boolean autoFlush) {
      super(os, autoFlush);
    }

    public OutputWriter(Writer out) {
      super(out);
    }

    public OutputWriter(Writer out, boolean autoFlush) {
      super(out, autoFlush);
    }

    public OutputWriter(String fileName) throws FileNotFoundException {
      super(fileName);
    }

    public OutputWriter(String fileName, String csn)
        throws FileNotFoundException, UnsupportedEncodingException {
      super(fileName, csn);
    }

    public OutputWriter(File file) throws FileNotFoundException {
      super(file);
    }

    public OutputWriter(File file, String csn)
        throws FileNotFoundException, UnsupportedEncodingException {
      super(file, csn);
    }

    public OutputWriter(OutputStream out) {
      super(out);
    }

    public void flush() {
      super.flush();
    }

    public void close() {
      super.close();
    }

  }

  static class InputReader implements FastIO {

    private InputStream stream;
    private static final int DEFAULT_BUFFER_SIZE = 1 << 16;
    private static final int EOF = -1;
    private byte[] buf = new byte[DEFAULT_BUFFER_SIZE];
    private int curChar;
    private int numChars;

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

    public int read() {
      if (this.numChars == EOF) {
        throw new UnknownError();
      } else {
        if (this.curChar >= this.numChars) {
          this.curChar = 0;

          try {
            this.numChars = this.stream.read(this.buf);
          } catch (IOException ex) {
            throw new InputMismatchException();
          }

          if (this.numChars <= 0) {
            return EOF;
          }
        }

        return this.buf[this.curChar++];
      }
    }

    public String next() {
      int c;
      while (isSpaceChar(c = this.read())) {
      }

      StringBuilder result = new StringBuilder();
      result.appendCodePoint(c);

      while (!isSpaceChar(c = this.read())) {
        result.appendCodePoint(c);
      }

      return result.toString();
    }

    public static boolean isSpaceChar(int c) {
      return c == 32 || c == 10 || c == 13 || c == 9 || c == EOF;
    }

    public char[] nextCharArray() {
      return next().toCharArray();
    }

  }

  static interface FastIO {

  }
}

