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:
s=input()
def fun():
		t=["[","<","{","("]
		t1=["]",">","}",")"]
		res=[]
		summ=0
		for i in range(len(s)):
			try:
				if (s[i] in t):
					res.append(s[i])
				elif s[i] in t1:
					d=len(res)-1
					if t.index(res[d])!=t1.index(s[i]):
						summ+=1
					res.pop(d)
			except:
				print("Impossible")
				break
		else:
			if len(res)==0:
				print(summ)
			else:
				print("Impossible")
fun()