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.*;
public class RegularBracketSequence
{
    
    /************************ SOLUTION STARTS HERE ************************/
    
    //DONT FORGET TO COMMIT AND PUSH TO GITHUB
    
    private static boolean isOpening(char ch)
    {
	return ch=='[' || ch=='(' || ch=='{' || ch=='<';
    }
    private static void solve(FastScanner s1, FastWriter out){

	char [] arr = s1.nextLine().toCharArray();
	HashMap<Character,Character> mp = new HashMap<>();
	mp.put(']', '[');
	mp.put(')', '(');
	mp.put('}', '{');
	mp.put('>', '<');
	Stack<Character> stk = new Stack<>();
	boolean flag = true;
	int ct = 0;
	for(char ch:arr)
	{
	    if(isOpening(ch))
	    {
		stk.push(ch);
	    }
	    else
	    {
		if(stk.size() == 0)
		{
		    flag = false;
		    break;
		}
		else
		{
		    char pop = stk.pop();
		    //System.out.println(pop);
		    if(mp.get(ch) != pop)
			ct++;
		}
	    }
	    //System.out.println(stk);
	}
	if(stk.size()!=0)
	    flag = false;
	
	if(flag)
	    out.print(ct);
	else
	    out.print("Impossible");
    }

    /************************ SOLUTION ENDS HERE ************************/
    
    
    
    /************************ TEMPLATE STARTS HERE ************************/
    
    public static void main(String []args) throws IOException {
	FastScanner in  = new FastScanner(System.in);
	FastWriter  out = new FastWriter(System.out);
	solve(in, out);
	in.close();
	out.close();
    }    
    
    static class FastScanner{
	public BufferedReader reader;
	public StringTokenizer st;
	public FastScanner(InputStream stream){
	    reader = new BufferedReader(new InputStreamReader(stream));
	    st = null;
	}
	public String next(){
	    while(st == null || !st.hasMoreTokens()){
		try{
		    String line = reader.readLine();
		    if(line == null) return null;
		    st = new StringTokenizer(line);
		}catch (Exception e){
		    throw (new RuntimeException());
		}
	    }
	    return st.nextToken();
	}
	public String nextLine(){
            String str = null;
            try {
                str = reader.readLine();
            } catch (IOException e) {
                e.printStackTrace();
            }
            return str;
        }
	public int nextInt(){
	    return Integer.parseInt(next());
	}
	public long nextLong(){
	    return Long.parseLong(next());
	}
	public double nextDouble(){
	    return Double.parseDouble(next());
	}
	int[] nextIntArray(int n) {
	    int[] arr = new int[n];
	    for (int i = 0; i < n; i++) {
		arr[i] = nextInt();
	    }
	    return arr;
	}

	long[] nextLongArray(int n) {
	    long[] arr = new long[n];
	    for (int i = 0; i < n; i++) {
		arr[i] = nextLong();
	    }
	    return arr;
	}
	public void close(){	
	    try{ reader.close(); } catch(IOException e){e.printStackTrace();}
	}
    }
    static class FastWriter{
	BufferedWriter writer;
	public FastWriter(OutputStream stream){
	    writer = new BufferedWriter(new OutputStreamWriter(stream));
	}
	public void print(int i) {
	    print(Integer.toString(i));
	}
	public void println(int i) {
	    print(Integer.toString(i));
	    print('\n');
	}
	public void print(long i) {
	    print(Long.toString(i));
	}
	public void println(long i) {
	    print(Long.toString(i));
	    print('\n');
	}
	public void print(double i) {
	    print(Double.toString(i));
	}
	public void print(boolean i) {
	    print(Boolean.toString(i));
	}
	public void print(char i) {
	    try{writer.write(i);} catch(IOException e){e.printStackTrace();}
	}
	public void print(String s){
	    try{writer.write(s);} catch(IOException e){e.printStackTrace();}
	}
	public void println(String s){
	    try{writer.write(s);writer.write('\n');} catch(IOException e){e.printStackTrace();}
	}
	public void println(){
	    try{writer.write('\n');} catch(IOException e){e.printStackTrace();}
	}
	public void print(int arr[])
	{
	    for (int i = 0; i < arr.length; i++) {
		print(arr[i]);
		print(' ');
	    }
	}
	public void close(){
	    try{writer.close();} catch(IOException e){e.printStackTrace();}
	}
    }
    
    /************************ TEMPLATE ENDS HERE ************************/
}
