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.IOException;
import java.io.PrintWriter;
import java.util.ArrayDeque;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Comparator;
import java.util.Deque;
import java.util.InputMismatchException;
import java.util.NoSuchElementException;
import java.math.BigInteger;

public class Main{

static PrintWriter out;
static InputReader ir;

static void solve(){
 char[] s=ir.next().toCharArray();
 int n=s.length;
 char[] ps=new char[n];
 boolean[] iob=new boolean[n];
 for(int i=0;i<n;i++) ps[i]=pair(s[i]);
 for(int i=0;i<n;i++){
  if(s[i]=='{'||s[i]=='('||s[i]=='['||s[i]=='<'){
   iob[i]=true;
  }
 }
 Deque<Character> stack=new ArrayDeque<>();
 int cnt=0;
 for(int i=0;i<n;i++){
  if(iob[i]) stack.offerFirst(s[i]);
  else{
   if(stack.isEmpty()){
    out.println("Impossible");
    return;
   }
   char c=stack.pollFirst();
   if(c!=ps[i]) cnt++;
  }
 }
 if(!stack.isEmpty()){
  out.println("Impossible");
  return;
 }
 out.println(cnt);
}

public static char pair(char c){
 if(c=='}') return '{';
 else if(c==']') return '[';
 else if(c==')') return '(';
 else return '<';
}

public static void main(String[] args) throws Exception{
 ir=new InputReader(System.in);
 out=new PrintWriter(System.out);
 solve();
 out.flush();
}

static class InputReader {
 private InputStream in;
 private byte[] buffer=new byte[1024];
 private int curbuf;
 private int lenbuf;

 public InputReader(InputStream in) {this.in=in; this.curbuf=this.lenbuf=0;}
 
 public boolean hasNextByte() {
  if(curbuf>=lenbuf){
   curbuf= 0;
   try{
    lenbuf=in.read(buffer);
   }catch(IOException e) {
    throw new InputMismatchException();
   }
   if(lenbuf<=0) return false;
  }
  return true;
 }

 private int readByte(){if(hasNextByte()) return buffer[curbuf++]; else return -1;}
 
 private boolean isSpaceChar(int c){return !(c>=33&&c<=126);}
 
 private void skip(){while(hasNextByte()&&isSpaceChar(buffer[curbuf])) curbuf++;}
 
 public boolean hasNext(){skip(); return hasNextByte();}
 
 public String next(){
  if(!hasNext()) throw new NoSuchElementException();
  StringBuilder sb=new StringBuilder();
  int b=readByte();
  while(!isSpaceChar(b)){
   sb.appendCodePoint(b);
   b=readByte();
  }
  return sb.toString();
 }
 
 public int nextInt() {
  if(!hasNext()) throw new NoSuchElementException();
  int c=readByte();
  while (isSpaceChar(c)) c=readByte();
  boolean minus=false;
  if (c=='-') {
   minus=true;
   c=readByte();
  }
  int res=0;
  do{
   if(c<'0'||c>'9') throw new InputMismatchException();
   res=res*10+c-'0';
   c=readByte();
  }while(!isSpaceChar(c));
  return (minus)?-res:res;
 }
 
 public long nextLong() {
  if(!hasNext()) throw new NoSuchElementException();
  int c=readByte();
  while (isSpaceChar(c)) c=readByte();
  boolean minus=false;
  if (c=='-') {
   minus=true;
   c=readByte();
  }
  long res = 0;
  do{
   if(c<'0'||c>'9') throw new InputMismatchException();
   res=res*10+c-'0';
   c=readByte();
  }while(!isSpaceChar(c));
  return (minus)?-res:res;
 }

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

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

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

 public long[] nextLongArray(int n){
  long[] a=new long[n];
  for(int i=0;i<n;i++) a[i]=nextLong();
  return a;
 }

 public char[][] nextCharMap(int n,int m){
  char[][] map=new char[n][m];
  for(int i=0;i<n;i++) map[i]=next().toCharArray();
  return map;
 }
}
}