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:
import sys
from math import *

def minp():
	return sys.stdin.readline().strip()

def mint():
	return int(minp())

def mints():
	return map(int, minp().split())

l = []
a = '>}])'
b = '<{[('
r = 0
for i in minp():
	if i in a:
		if len(l) == 0:
			print("Impossible")
			exit(0)
		else:
			if b[a.find(i)] != l.pop():
				r += 1
	else:
		l.append(i)
if len(l) == 0:
	print(r)
else:
	print("Impossible")