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.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.math.BigInteger;
import java.util.ArrayDeque;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Iterator;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.PriorityQueue;
import java.util.Queue;
import java.util.Set;
import java.util.StringTokenizer;
import java.util.TreeMap;
import java.util.TreeSet;
import java.util.Vector;
import java.util.logging.Level;
import java.util.logging.Logger;

public class Main {

    

    public static boolean open(char a) {
        return a == '(' || a == '{' || a == '[' || a == '<';
    }
    public static boolean close(char a) {
        return a == ')' || a == '}' || a == ']' || a == '>';
    }
    public static void main(String[] args) {
        InputStream inputStream = System.in;
        OutputStream outputStream = System.out;
        PrintWriter out = new PrintWriter(outputStream);
        InputReader in = new InputReader(inputStream);
        char[] a = in.next().toCharArray();
        int n = a.length;
        int stsize = 0;
        char[] st = new char[n];
        int ans = 0;
        for(int i = 0; i < n; i++) {
            if(close(a[i]) && stsize == 0) {
                out.println("Impossible");
                out.close();
                return;
            }
            if(open(a[i])) {
                st[stsize++] = a[i];
            }else {
                if(a[i] == ')' && st[stsize - 1] != '(')ans++;
                if(a[i] == '}' && st[stsize - 1] != '{')ans++;
                if(a[i] == ']' && st[stsize - 1] != '[')ans++;
                if(a[i] == '>' && st[stsize - 1] != '<')ans++;
                stsize--;
            }
        }
        if(stsize != 0) {
            out.println("Impossible");
        }else out.println(ans);
        out.close();
    }

    static class InputReader {

        BufferedReader reader;
        StringTokenizer tokenizer;

        public InputReader(InputStream inputStream) {
            reader = new BufferedReader(new InputStreamReader(inputStream), 32624);
            tokenizer = null;
        }

        public String next() {
            while (tokenizer == null || !tokenizer.hasMoreTokens()) {
                try {
                    tokenizer = new StringTokenizer(reader.readLine());
                } catch (IOException ex) {
                    Logger.getLogger(Main.class.getName()).log(Level.SEVERE, null, ex);
                }
            }
            return tokenizer.nextToken();
        }

        public int nextInt() {
            return Integer.parseInt(next());
        }

        private long nextLong() {
            return Long.parseLong(next());
        }

        private double nextDouble() {
            return Double.parseDouble(next());
        }

        public int[] nextArray(int n) {
            int[] a = new int[n];
            for (int i = 0; i < n; i++) {
                a[i] = nextInt();
            }
            return a;
        }

        public double[] nextArrayd(int n) {
            double[] a = new double[n];
            for (int i = 0; i < n; i++) {
                a[i] = nextDouble();
            }
            return a;
        }

        private BigInteger nextBigInteger() {
            return new BigInteger(next());
        }

        public void printAr(int[] a) {
            System.out.print("[");
            for (long x : a) {
                System.out.print(x + ",");
            }
            System.out.print("]");
        }
    }

}
