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 PYTHON):

Solution:
s = raw_input()
d = {"}": "{",")": "(",">": "<","]":"["}
x = []
r = 0
c = True

for i in range(len(s)):
	if s[i] in "<{[(":
		x.append(s[i])
	else:
		if len(x) == 0:
			c = False
			break
		else:
			if x.pop() != d[s[i]]:
				r += 1
if c and len(x) == 0:
	print r
else:
	print "Impossible"