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
from functools import reduce
from operator import *
from math import *
from sys import *
from string import *
from collections import *
setrecursionlimit(10**7)
dX= [-1, 1, 0, 0,-1, 1,-1, 1]
dY= [ 0, 0,-1, 1, 1,-1,-1, 1]
RI=lambda: list(map(int,input().split()))
RS=lambda: input().rstrip().split()
#################################################
val={'<':1, '>':2, '[':1, ']':2, '(':1, ')':2, '{':1, '}':2}
pairs={'<':'>', '[':']','(':')','{':'}'}
s=input()
st=[]
ans=0
for i in s:
    if len(st) and val[st[-1]]==val[i]-1:
        if pairs[st[-1]]!=i:
            ans+=1
        st.pop()
    else:
        st.append(i)
print([ans,"Impossible"][len(st)>0])
