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.InputStreamReader;
import java.io.IOException;
import java.io.OutputStreamWriter;
import java.io.BufferedWriter;
import java.util.InputMismatchException;
import java.util.Stack;
import java.io.BufferedReader;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.io.Writer;
import java.util.StringTokenizer;
import java.io.InputStream;

/**
 * Built using CHelper plug-in
 * Actual solution is at the top
 * @author Andrey Rechitsky (arechitsky@gmail.com)
 */
public class Main {
	public static void main(String[] args) {
		InputStream inputStream = System.in;
		OutputStream outputStream = System.out;
		FastScanner in = new FastScanner(inputStream);
		FastPrinter out = new FastPrinter(outputStream);
		TaskC solver = new TaskC();
		solver.solve(1, in, out);
		out.close();
	}
}

class TaskC {
    public void solve(int testNumber, FastScanner in, FastPrinter out) {
        char []s = in.next().toCharArray();
        Stack<Integer> stack = new Stack<Integer>();
        char []closing = ")}]>".toCharArray();
        int ans = 0;
        for (char c:s){
            int type = "({[<".indexOf(c);
            if (type>=0){
                stack.push(type);
            }
            else{
                if (stack.empty()){
                    out.printLine("Impossible");
                    return;
                }
                type = stack.pop();
                if (c!=closing[type]) ans++;
            }
        }
        if (!stack.empty()){
            out.printLine("Impossible");
            return;
        }
        out.printLine(ans);
    }
}

class FastScanner {

    private BufferedReader reader;
    private StringTokenizer st;

    public FastScanner(InputStream stream) {
        this.reader = new BufferedReader(new InputStreamReader(stream));
        this.st = new StringTokenizer("");
    }

    public String next() {
        while (!st.hasMoreTokens()) {
            st = new StringTokenizer(readLine());
        }
        return st.nextToken();
    }

    private String readLine() {
        String line = tryReadLine();
        if (line == null) throw new InputMismatchException();
        return line;
    }

    private String tryReadLine() {
        try {
            return reader.readLine();
        } catch (IOException e) {
            throw new InputMismatchException();
        }
    }

}

class FastPrinter {
    private final PrintWriter writer;

    public FastPrinter(OutputStream outputStream) {
        writer = new PrintWriter(new BufferedWriter(new OutputStreamWriter(outputStream)));
    }

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

    public void printLine(long i) {
        writer.println(i);
    }

    public void printLine(String s) {
        writer.println(s);
    }

}
