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.InputStream;
import java.io.OutputStream;
import java.io.IOException;
import java.util.LinkedList;
import java.io.InputStream;
import java.io.BufferedWriter;
import java.io.Writer;
import java.io.OutputStreamWriter;
import java.io.IOException;
import java.util.InputMismatchException;
import java.io.PrintWriter;
import java.io.OutputStream;

/**
 * Built using CHelper plug-in
 * Actual solution is at the top
 *
 * @author Alex
 */
public class Main {
    public static void main(String[] args) {
        InputStream inputStream = System.in;
        OutputStream outputStream = System.out;
        InputReader in = new InputReader(inputStream);
        OutputWriter out = new OutputWriter(outputStream);
        TaskC solver = new TaskC();
        solver.solve(1, in, out);
        out.close();
    }
    static class TaskC {
        String IMPOSSIBLE = "Impossible";

        public void solve(int testNumber, InputReader in, OutputWriter out) {
            char[] s = in.next().toCharArray();
            LinkedList<Character> ll = new LinkedList<>();
            int res = 0;
            for(char c : s) {
                if("<{[(".indexOf(c) != -1) {
                    ll.addLast(c);
                } else {
                    Character matching = ll.pollLast();
                    if(matching == null) {
                        out.printLine(IMPOSSIBLE);
                        return;
                    }
                    if("<{[(".indexOf(matching) != ">}])".indexOf(c)) res++;
                }
            }
            if(!ll.isEmpty()) {
                out.printLine(IMPOSSIBLE);
                return;
            }
            out.printLine(res);
        }

    }

    static class OutputWriter {
        private final PrintWriter writer;

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

        public OutputWriter(Writer writer) {
            this.writer = new PrintWriter(writer);
        }

        public void print(Object... objects) {
            for(int i = 0; i < objects.length; i++) {
                if(i != 0)
                    writer.print(' ');
                writer.print(objects[i]);
            }
        }

        public void printLine(Object... objects) {
            print(objects);
            writer.println();
        }

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

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

    }

    static class InputReader {
        private InputStream stream;
        private byte[] buf = new byte[1024];
        private int curChar;
        private int numChars;
        private SpaceCharFilter filter;

        public InputReader(InputStream stream) {
            this.stream = stream;
        }

        public int read() {
            if(numChars == -1)
                throw new InputMismatchException();
            if(curChar >= numChars) {
                curChar = 0;
                try {
                    numChars = stream.read(buf);
                } catch(IOException e) {
                    throw new InputMismatchException();
                }
                if(numChars <= 0)
                    return -1;
            }
            return buf[curChar++];
        }

        public String readString() {
            int c = read();
            while(isSpaceChar(c))
                c = read();
            StringBuilder res = new StringBuilder();
            do {
                if(Character.isValidCodePoint(c))
                    res.appendCodePoint(c);
                c = read();
            } while(!isSpaceChar(c));
            return res.toString();
        }

        public boolean isSpaceChar(int c) {
            if(filter != null)
                return filter.isSpaceChar(c);
            return isWhitespace(c);
        }

        public static boolean isWhitespace(int c) {
            return c == ' ' || c == '\n' || c == '\r' || c == '\t' || c == -1;
        }

        public String next() {
            return readString();
        }

        public interface SpaceCharFilter {
            public boolean isSpaceChar(int ch);

        }

    }
}

