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 re
import sys
exit=sys.exit
from bisect import bisect_left as bsl,bisect_right as bsr
from collections import Counter,defaultdict as ddict,deque
from functools import lru_cache
cache=lru_cache(None)
from heapq import *
from itertools import *
from math import inf
from pprint import pprint as pp
enum=enumerate
ri=lambda:int(rln())
ris=lambda:list(map(int,rfs()))
rln=sys.stdin.readline
rl=lambda:rln().rstrip('\n')
rfs=lambda:rln().split()
cat=''.join
catn='\n'.join
mod=1000000007
d4=[(0,-1),(1,0),(0,1),(-1,0)]
d8=[(-1,-1),(0,-1),(1,-1),(-1,0),(1,0),(-1,1),(0,1),(1,1)]
########################################################################

def solve(s):
  mp=dict('<> {} [] ()'.split())
  ans=0
  stk=[]
  for c in s:
    if c in mp:
      stk.append(mp[c])
    else:
      if not stk:
        return -1
      if stk[-1]!=c:
        ans+=1
      stk.pop()
  if stk:
    return -1
  return ans

s=rl()
ans=solve(s)
if ans==-1:
  print('Impossible')
else:
  print(ans)
