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 CPP):

Solution:
#include <bits/stdc++.h>
using namespace std;
int main() {
  string s;
  cin >> s;
  stack<char> st;
  int ans = 0, f = 1;
  map<char, char> mp;
  mp['<'] = '>';
  mp['('] = ')';
  mp['{'] = '}';
  mp['['] = ']';
  for (char i : s) {
    if (st.empty() && mp[i] == 0) {
      f = 0;
      break;
    } else if (st.empty()) {
      st.push(i);
    } else if (mp[i] != 0) {
      st.push(i);
    } else {
      if (mp[st.top()] != i) ans++;
      st.pop();
    }
  }
  if (f == 0 || !st.empty())
    cout << "Impossible" << endl;
  else
    cout << ans << endl;
}