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 os, sys
from io import BytesIO, IOBase
from types import GeneratorType
from bisect import *
from collections import defaultdict, deque, Counter
import math, string
from heapq import *
from operator import add
from itertools import accumulate

BUFSIZE = 8192
sys.setrecursionlimit(10 ** 5)


class FastIO(IOBase):
    newlines = 0

    def __init__(self, file):
        import os

        self.os = os
        self._fd = file.fileno()
        self.buffer = BytesIO()
        self.writable = "x" in file.mode or "r" not in file.mode
        self.write = self.buffer.write if self.writable else None

    def read(self):
        while True:
            b = self.os.read(self._fd, max(self.os.fstat(self._fd).st_size, BUFSIZE))
            if not b:
                break
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines = 0
        return self.buffer.read()

    def readline(self):
        while self.newlines == 0:
            b = self.os.read(self._fd, max(self.os.fstat(self._fd).st_size, BUFSIZE))
            self.newlines = b.count(b"\n") + (not b)
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines -= 1
        return self.buffer.readline()

    def flush(self):
        if self.writable:
            self.os.write(self._fd, self.buffer.getvalue())
            self.buffer.truncate(0), self.buffer.seek(0)


class IOWrapper(IOBase):
    def __init__(self, file):
        self.buffer = FastIO(file)
        self.flush = self.buffer.flush
        self.writable = self.buffer.writable
        self.write = lambda s: self.buffer.write(s.encode("ascii"))
        self.read = lambda: self.buffer.read().decode("ascii")
        self.readline = lambda: self.buffer.readline().decode("ascii")


sys.stdin, sys.stdout = IOWrapper(sys.stdin), IOWrapper(sys.stdout)
input = lambda: sys.stdin.readline().rstrip("\r\n")


inf = float("inf")
en = lambda x: list(enumerate(x))
ceil_ = lambda a, b: (a + b - 1) // b


ii = lambda: int(input())
r = lambda: map(int, input().split())
rr = lambda: list(r())


# --------------------------


o = "<{[("
c = ">}])"



z = {j:i for i,j in zip(o,c)}
arr = []


x = 0
ans = 0
for i in input():
    if i in o:
        x += 1
        arr += (i,)
    else:
        x -= 1
        if x < 0:
            print("Impossible")
            exit()
        if arr.pop() != z[i]:
            ans += 1


if x:
    print("Impossible")
    exit()

print(ans)