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()
N = len(S)

lt = {'[', '(', '{', '<'}
rt = {']', ')', '}', '>'}

stack = []
res = 0

for i in range(N):
    if S[i] in lt:
        stack.append(i)
    else:
        if not stack:
            print('Impossible')
            break
        else:
            c = stack.pop()
            if S[c] + S[i] not in {'[]', '()', '{}', '<>'}:
                res += 1
else:
    if not stack:
        print(res)
    else:
        print('Impossible')