Problem: 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

Solution (in PYTHON3):

Solution:
#### IMPORTANT LIBRARY ####

############################
### DO NOT USE import random --> 250ms to load the library
############################

### In case of extra libraries: https://github.com/cheran-senthil/PyRival

######################
####### IMPORT #######
######################

from functools import cmp_to_key 
from collections import deque, Counter
from heapq import heappush, heappop
from math import log, ceil

######################
#### STANDARD I/O ####
######################

import sys
import os
from io import BytesIO, IOBase

BUFSIZE = 8192

class FastIO(IOBase):
    newlines = 0
    def __init__(self, file):
        self._fd = file.fileno()
        self.buffer = BytesIO()
        self.writable = "x" in file.mode or "r" not in file.mode
        self.write = self.buffer.write if self.writable else None

    def read(self):
        while True:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            if not b:
                break
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines = 0
        return self.buffer.read()
 
    def readline(self):
        while self.newlines == 0:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            self.newlines = b.count(b"\n") + (not b)
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines -= 1
        return self.buffer.readline()
 
    def flush(self):
        if self.writable:
            os.write(self._fd, self.buffer.getvalue())
            self.buffer.truncate(0), self.buffer.seek(0)

class IOWrapper(IOBase):
    def __init__(self, file):
        self.buffer = FastIO(file)
        self.flush = self.buffer.flush
        self.writable = self.buffer.writable
        self.write = lambda s: self.buffer.write(s.encode("ascii"))
        self.read = lambda: self.buffer.read().decode("ascii")
        self.readline = lambda: self.buffer.readline().decode("ascii")

if sys.version_info[0] < 3:
    sys.stdin, sys.stdout = FastIO(sys.stdin), FastIO(sys.stdout)
else:
    sys.stdin, sys.stdout = IOWrapper(sys.stdin), IOWrapper(sys.stdout)

def print(*args, **kwargs):
    sep, file = kwargs.pop("sep", " "), kwargs.pop("file", sys.stdout)
    at_start = True
    for x in args:
        if not at_start:
            file.write(sep)
        file.write(str(x))
        at_start = False
    file.write(kwargs.pop("end", "\n"))
    if kwargs.pop("flush", False):
        file.flush()

def inp():
    return sys.stdin.readline().rstrip("\r\n")  # for fast input
    
def ii():
    return int(inp())

def si():
    return str(inp())

def li(lag = 0):
    l = list(map(int, inp().split()))
    if lag != 0:
        for i in range(len(l)):
            l[i] += lag
    return l
    
def mi(lag = 0):
    matrix = list()
    for i in range(n):
        matrix.append(li(lag))
    return matrix

def lsi(): #string list
    return list(map(str, inp().split()))

def print_list(lista, space = " "):
    print(space.join(map(str, lista)))

######################
### BISECT METHODS ###
######################

def bisect_left(a, x):
    """i tale che a[i] >= x e a[i-1] < x"""
    left = 0
    right = len(a)
    while left < right:
        mid = (left+right)//2
        if a[mid] < x: 
            left = mid+1
        else: 
            right = mid
    return left

def bisect_right(a, x):
    """i tale che a[i] > x e a[i-1] <= x"""
    left = 0
    right = len(a)
    while left < right:
        mid = (left+right)//2
        if a[mid] > x: 
            right = mid
        else: 
            left = mid+1
    return left

def bisect_elements(a, x):
    """elementi pari a x nell'árray sortato"""
    return bisect_right(a, x) - bisect_left(a, x)

######################
### MOD OPERATION ####
######################

MOD = 10**9 + 7
maxN = 5
FACT = [0] * maxN
INV_FACT = [0] * maxN

def add(x, y):
    return (x+y) % MOD
   
def multiply(x, y):
    return (x*y) % MOD

def power(x, y):
    if y == 0:
        return 1
    elif y % 2:
        return multiply(x, power(x, y-1))
    else:
        a = power(x, y//2)
        return multiply(a, a)

def inverse(x):
    return power(x, MOD-2)
   
def divide(x, y):
    return multiply(x, inverse(y))

def allFactorials():
    FACT[0] = 1
    for i in range(1, maxN):
        FACT[i] = multiply(i, FACT[i-1])

def inverseFactorials():
    n = len(INV_FACT)
    INV_FACT[n-1] = inverse(FACT[n-1])
    for i in range(n-2, -1, -1):
        INV_FACT[i] = multiply(INV_FACT[i+1], i+1)

def coeffBinom(n, k):
    if n < k:
        return 0
    return multiply(FACT[n], multiply(INV_FACT[k], INV_FACT[n-k]))

######################
#### GRAPH ALGOS #####
######################

# ZERO BASED GRAPH
def create_graph(n, m, undirected = 1, unweighted = 1):
    graph = [[] for i in range(n)]
    if unweighted:
        for i in range(m):
            [x, y] = li(lag = -1)
            graph[x].append(y)
            if undirected:
                graph[y].append(x)
    else:
        for i in range(m):
            [x, y, w] = li(lag = -1)
            w += 1
            graph[x].append([y,w])
            if undirected:
                graph[y].append([x,w])
    return graph

def create_tree(n, unweighted = 1):
    children = [[] for i in range(n)]
    if unweighted:
        for i in range(n-1):
            [x, y] = li(lag = -1)
            children[x].append(y)
            children[y].append(x)
    else:
        for i in range(n-1):
            [x, y, w] = li(lag = -1)
            w += 1
            children[x].append([y, w])
            children[y].append([x, w])
    return children
   
def dist(tree, n, A, B = -1):
    s = [[A, 0]]
    massimo, massimo_nodo = 0, 0
    distanza = -1
    v = [-1] * n
    while s:
        el, dis = s.pop() 
        if dis > massimo:
            massimo = dis
            massimo_nodo = el
        if el == B:
            distanza = dis
        for child in tree[el]:
            if v[child] == -1:
                v[child] = 1
                s.append([child, dis+1])
    return massimo, massimo_nodo, distanza

def diameter(tree):
    _, foglia, _ = dist(tree, n, 0)
    diam, _, _ = dist(tree, n, foglia)
    return diam
   
def dfs(graph, n, A):
    v = [-1] * n
    s = [[A, 0]]
    v[A] = 0
    while s:
        el, dis = s.pop()
        for child in graph[el]:
            if v[child] == -1:
                v[child] = dis + 1
                s.append([child, dis + 1])
    return v #visited: -1 if not visited, otherwise v[B] is the distance in terms of edges

def bfs(graph, n, A):
    v = [-1] * n
    s = deque()
    s.append([A, 0])
    v[A] = 0
    while s:
        el, dis = s.popleft()
        for child in graph[el]:
            if v[child] == -1:
                v[child] = dis + 1
                s.append([child, dis + 1])
    return v #visited: -1 if not visited, otherwise v[B] is the distance in terms of edges

#FROM A GIVEN ROOT, RECOVER THE STRUCTURE
def parents_children_root_unrooted_tree(tree, n, root = 0):
    q = deque()
    visited = [0] * n
    parent = [-1] * n
    children = [[] for i in range(n)]
    q.append(root)
    while q:
        all_done = 1
        visited[q[0]] = 1
        for child in tree[q[0]]:
            if not visited[child]:
                all_done = 0
                q.appendleft(child)
        if all_done:
            for child in tree[q[0]]:   
                if parent[child] == -1:
                    parent[q[0]] = child
                    children[child].append(q[0])
            q.popleft()
    return parent, children

# CALCULATING LONGEST PATH FOR ALL THE NODES 
def all_longest_path_passing_from_node(parent, children, n):
    q = deque()
    visited = [len(children[i]) for i in range(n)]
    downwards = [[0,0] for i in range(n)]
    upward = [1] * n
    longest_path = [1] * n
    for i in range(n):
        if not visited[i]:
            q.append(i)
            downwards[i] = [1,0]
    while q:
        node = q.popleft()
        if parent[node] != -1:
            visited[parent[node]] -= 1
            if not visited[parent[node]]:
                q.append(parent[node])
        else:
            root = node
        for child in children[node]:   
            downwards[node] = sorted([downwards[node][0], downwards[node][1], downwards[child][0] + 1], reverse = True)[0:2]
    s = [node]
    while s:
        node = s.pop()
        if parent[node] != -1:
            if downwards[parent[node]][0] == downwards[node][0] + 1:
                upward[node] = 1 + max(upward[parent[node]], downwards[parent[node]][1])
            else:
                upward[node] = 1 + max(upward[parent[node]], downwards[parent[node]][0])
        longest_path[node] = downwards[node][0] + downwards[node][1] + upward[node] - min([downwards[node][0], downwards[node][1], upward[node]]) - 1
        for child in children[node]:
            s.append(child)
    return longest_path

### TBD SUCCESSOR GRAPH 7.5
### TBD TREE QUERIES 10.2 da 2 a 4
### TBD ADVANCED TREE 10.3
### TBD GRAPHS AND MATRICES 11.3.3 e 11.4.3 e 11.5.3 (ON GAMES)

######################
## END OF LIBRARIES ##
######################

s = si()
n = len(s)
stack = list()
op = ["<","(","[","{"]
cl = [">",")","]","}"]
match = {"<":">", "(":")", "[":"]", "{":"}"}
flag = True
count = 0
for i in range(n):
    if s[i] in op:
        stack.append(s[i])
    else:
        if len(stack) == 0:
            flag = False
        else:
            last = stack.pop()
            if s[i] != match[last]:
                count += 1
if stack:
    flag = False
if flag == False:
    print("Impossible")
else:
    print(count)