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()
open = "({<["
close = ")}>]"
clopen = {']': '[', '}': '{', '>': '<', ')': '('}
ir2 = 0
ir = 0
if len(s) % 2 == 1:
    print("Impossible")
    exit()
else:
    l = []
    for i in range(len(s)):
        if s[i] in open:
            ir += 1
            l.append(s[i])
        else:
            ir -= 1
            if ir == -1:
                print("Impossible")
                exit()
            p = l.pop()
            if clopen[s[i]] != p:
                ir2 += 1
if ir != 0:
    print("Impossible")
    exit()
else:
    print(ir2)