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 int MAX = 1007;
    
    private static final long MOD = 1000000007;

    private static final int MAXN = 10000007;
    private static final int MAXA = 10000009;
    private static final int MAXLOG = 22;

	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();
		Stack<Character> stack = new Stack<>();
		boolean ok = true;
		for(char ch : str.toCharArray()) {
			if(ch == '<' || ch == '{' || ch == '(' || ch == '[') {
				stack.add(ch);
			}
			else {
				if(!stack.isEmpty()) {
					stack.pop();
				}
				else {
					ok = false;
					break;
				}
			}
		}
		if(!stack.isEmpty()) {
			ok = false;
		}
		
		if(ok) {
			stack = new Stack<>();
			int ans = 0;
			for(char ch : str.toCharArray()) {
				if(ch == '<' || ch == '{' || ch == '(' || ch == '[') {
					stack.add(ch);
				}
				else if (ch == '>' && stack.peek() == '<') {
					stack.pop();
				}
				else if(ch == '}' && stack.peek() == '{') {
					stack.pop();
				}
				else if(ch == ')' && stack.peek() == '(') {
					stack.pop();
				}
				else if(ch == ']' && stack.peek() == '[') {
					stack.pop();
				}
				else {
					ans++;
					stack.pop();
				}
			}
			
			out.println(ans);
		}
		else {
			out.println("Impossible");
		}
		
		in.close();
		out.flush();
		out.close();
		System.exit(0);
	}

	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 int ceil(int n, int x) {
        int div = n / x;
        if(div * x != n) {
            div++;
        }
        return div;
    }

    private static class Point {
        double x;
        double y;

        Point(double x, double y) {
            this.x = x;
            this.y = y;
        }

        double getDistance(Point p2) {
            Point p1 = this;
            double dx = p1.x - p2.x;
            double dy = p1.y - p2.y;

            return Math.sqrt((dx * dx) + (dy * dy));
        }
    }

    private static int abs(int 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 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 void close() {
        	try {
        		if(reader != null) {
        			reader.close();
        		}
        	}
        	catch(Exception e) {
        		
        	}
        	
        	
        }
    }
    
}