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 JAVA):

Solution:
import java.io.*;
import java.math.*;
import java.util.*;

/**
 *
 * @author Saju
 *
 */

public class Main {

    private static int dx[] = { 1, 0, -1, 0 };
    private static int dy[] = { 0, -1, 0, 1 };

    private static final long INF = Long.MAX_VALUE;
    private static final int INT_INF = Integer.MAX_VALUE;
    private static final long NEG_INF = Long.MIN_VALUE;
    private static final int NEG_INT_INF = Integer.MIN_VALUE;
    private static final double EPSILON = 1e-10;

    private static final long MAX = (long) 1e12;
    
    private static final long MOD = 100000007;

    private static final int MAXN = 300005;
    private static final int MAXA = 200007;
    private static final int MAXLOG = 22;
    private static final double PI = Math.acos(-1);
    
	public static void main(String[] args) throws IOException {

		InputReader in = new InputReader(System.in);
//		Scanner in = new Scanner(System.in);
		PrintWriter out = new PrintWriter(System.out);

//         InputReader in = new InputReader(new FileInputStream("src/test.in"));
//         PrintWriter out = new PrintWriter(new BufferedWriter(new FileWriter("src/test.out")));

		
		
/*




*/		
	
		String str = in.next();
		
		int openCount = 0;
		int closeCount = 0;
		for(char ch : str.toCharArray()) {
			if(ch == '<' || ch == '[' || ch == '{' || ch == '(') {
				openCount++;
			}
			else {
				closeCount++;
			}
		}
		if(openCount != closeCount) {
			out.println("Impossible");
		}
		else {
			Stack<Character> stack = new Stack<>();
			int cnt = 0;
			for(char ch : str.toCharArray()) {
				if(ch == '<' || ch == '[' || ch == '{' || ch == '(') {
					if(ch == '<') {
						stack.add('>');
					}
					else if(ch == '[') {
						stack.add(']');
					}
					else if(ch == '{') {
						stack.add('}');
					}
					else {
						stack.add(')');
					}
				}
				else {
					if(stack.size() == 0) {
						out.println("Impossible");
						out.flush();
						return;
					}
//					System.out.println(ch + " " + stack.peek());
					if(ch != stack.peek()) {
						cnt++;
					}
					stack.pop();
				}
			}
			out.println(cnt);
		}
		
		in.close();
		out.flush();
		out.close();
		System.exit(0);
	}

	/*
	 * return the number of elements in list that are less than or equal to the val
	 */
	private static long upperBound(List<Long> list, long val) {
		int start = 0;
		int len = list.size();
		int end = len - 1;
		int mid = 0;

		while (true) {
			if (start > end) {
				break;
			}
			mid = (start + end) / 2;
			long v = list.get(mid);
			if (v == val) {
				start = mid;
				while(start < end) {
					mid = (start + end) / 2;
					if(list.get(mid) == val) {
						if(mid + 1 < len && list.get(mid + 1) == val) {
							start = mid + 1;
						}
						else {
							return mid + 1;
						}
					}
					else {
						end = mid - 1;
					}
				}
				return start + 1;
			}
			if (v > val) {
				end = mid - 1;
			} else {
				start = mid + 1;
			}
		}
		if (list.get(mid) < val) {
			return mid + 1;
		}
		return mid;
	}


	private static boolean isPalindrome(String str) {
		StringBuilder sb = new StringBuilder();
		sb.append(str);
		String str1 = sb.reverse().toString();
		return str.equals(str1);
	}

	private static String getBinaryStr(long n, int j) {
		String str = Long.toBinaryString(n);
		int k = str.length();
		for (int i = 1; i <= j - k; i++) {
			str = "0" + str;
		}

		return str;
	}
	
	private static long modInverse(long r) {
		return bigMod(r, MOD - 2, MOD);
	}
	
	private static long bigMod(long n, long k, long m) {

        long ans = 1;
        while (k > 0) {
            if ((k & 1) == 1) {
                ans = (ans * n) % m;
            }
            n = (n * n) % m;
            k >>= 1;
        }
        return ans;
    }
    
	private static long ceil(long n, long x) {
		long div = n / x;
        if(div * x != n) {
            div++;
        }
        return div;
	}
	
    private static int ceil(int n, int x) {
        int div = n / x;
        if(div * x != n) {
            div++;
        }
        return div;
    }

    
    private static int abs(int x) {
        if (x < 0) {
            return -x;
        }
        return x;
    }
    
    private static double abs(double x) {
        if (x < 0) {
            return -x;
        }
        return x;
    }

    private static long abs(long x) {
        if(x < 0) {
            return -x;
        }
        return x;
    }

    private static int lcm(int a, int b) {
        return (a * b) / gcd(a, b);
    }

    private static int gcd(int a, int b) {
        if (a == 0)
            return b;
        return gcd(b % a, a);
    }
    
    private static long gcd(long a, long b) {
        if (a == 0)
            return b;
        return gcd(b % a, a);
    }

    private static int log(long x, int base) {
        return (int) (Math.log(x) / Math.log(base));
    }

    private static long min(long a, long b) {
        if (a < b) {
            return a;
        }
        return b;
    }

    private static int min(int a, int b) {
        if (a < b) {
            return a;
        }
        return b;
    }

    private static long max(long a, long b) {
        if (a < b) {
            return b;
        }
        return a;
    }

    private static int max(int a, int b) {
        if (a < b) {
            return b;
        }
        return a;
    }

    private static class InputReader {
        public BufferedReader reader;
        public StringTokenizer tokenizer;

        public InputReader(InputStream stream) {
            reader = new BufferedReader(new InputStreamReader(stream));
            tokenizer = null;
        }

        public String next() {
            try {
                while (tokenizer == null || !tokenizer.hasMoreTokens()) {
                    tokenizer = new StringTokenizer(reader.readLine());

                }
            } catch (IOException e) {
                return null;
            }
            return tokenizer.nextToken();
        }

        public String nextLine() {
            String line = null;
            try {
                tokenizer = null;
                line = reader.readLine();
            } catch (IOException e) {
                throw new RuntimeException(e);
            }
            return line;
        }

        public int nextInt() {
            return Integer.parseInt(next());
        }

        public double nextDouble() {
            return Double.parseDouble(next());
        }

        public long nextLong() {
            return Long.parseLong(next());
        }

        public boolean hasNext() {
            try {
                while (tokenizer == null || !tokenizer.hasMoreTokens()) {
                    tokenizer = new StringTokenizer(reader.readLine());
                }
            } catch (Exception e) {
                return false;
            }
            return true;
        }
        
        public int[] nextIntArr(int n) {
        	int arr[] = new int[n];
    		for(int i = 0; i < n; i++) {
    			arr[i] = nextInt();
    		}
    		return arr;
        }
        
        public long[] nextLongArr(int n) {
        	long arr[] = new long[n];
    		for(int i = 0; i < n; i++) {
    			arr[i] = nextLong();
    		}
    		return arr;
        }
        
        public int[] nextIntArr1(int n) {
        	int arr[] = new int[n + 1];
    		for(int i = 1; i <= n; i++) {
    			arr[i] = nextInt();
    		}
    		return arr;
        }
        
        public long[] nextLongArr1(int n) {
        	long arr[] = new long[n + 1];
    		for(int i = 1; i <= n; i++) {
    			arr[i] = nextLong();
    		}
    		return arr;
        }
       
        public void close() {
        	try {
        		if(reader != null) {
        			reader.close();
        		}
        	}
        	catch(Exception e) {
        		
        	}
        	
        	
        }
    }

}