You are given string *s* consists of opening and closing brackets of four kinds &lt;&gt;, {}, [], (). 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 &lt; by the bracket {, but you can't replace it by ) or &gt;.

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 *s*<sub class="lower-index">1</sub> and *s*<sub class="lower-index">2</sub> be a RBS then the strings &lt;*s*<sub class="lower-index">1</sub>&gt;*s*<sub class="lower-index">2</sub>, {*s*<sub class="lower-index">1</sub>}*s*<sub class="lower-index">2</sub>, [*s*<sub class="lower-index">1</sub>]*s*<sub class="lower-index">2</sub>, (*s*<sub class="lower-index">1</sub>)*s*<sub class="lower-index">2</sub> are also RBS.

For example the string "[[(){}]&lt;&gt;]" is RBS, but the strings "[)()" and "][()()" are not.

Determine the least number of replaces to make the string *s* RBS.
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 10<sup class="upper-index">6</sup>.
none
[<}){}
2
{()}[]
0
]]
Impossible
>
Impossible
{}
0
{}
0
{]
1
{]
1
{]
1
[]{[]({)([
Impossible
(([{>}{[{[)]]>>]
7
((<>)[]<]><]
3
[[([[(>]>)))[<)>
6
({)[}<)](}
5
(}{)[<][)(]}
6
>}({>]{[}<{<{{)[]]{)]>]]]<(][{)<<<{<<)>)()[>{<]]{}<>}}}}(>}<})(][>{((<{<)]}>)))][>[}[])<]){]]][<[)([
Impossible
<<[<{{<([({<<[)<>(]]){})>[](])[)))[[}>]<)>[[>{>>>[<]}<>>)[>]<{)<[><(<]][>(>]>][(<][{]}(()<[()[>><<])<]})]<]}{)
45
[<<{{((}[}<<)<)>})(][{>}})((>)<[)[>}[})[)>()[()[((}<<(>)<>](<>(}[>})[[[{)<}<<(}{>>}[<([[])<><)]<{>}[>>>{({>)}]})>)
42
(<[([(<({>(}{]>[(})])}])()<<}{]{[>]>(>>[(>>}[){(}<[{(()]{{<(<{][[{<><{<{)<>>]}}}{)(}{})}[<))>>}((({>){({}{{]}]>>}})>))
43
{(]}<([]<]{>]<{<({{{<>))}[({(}{)[}({>]}}<<)}<]))(<>(>{>{{{)<}({<]<>{)(>[)>{({}<([<[[)]><>{]}}(>]{}<)[})]}]]}]}>}
40
<(([)]<[}>{)>][[(<()({{{>>((]<}<{{<>}><<[)}[[)([[)[)}<]<{(<>){([)><{[([[][({])})<][(}]}>>[){)[({>){(}[}})>}>]>)]}))})>}]
45
)(
Impossible
[[[[[[[[
Impossible
from collections import *
from itertools import *
from random import *
from bisect import *
from string import *
from queue import *
from heapq import *
from math import *
from re import *
from sys import *
def fast(): return stdin.readline().strip()
def zzz(): return [int(i) for i in fast().split()]


z, zz = input, lambda: list(map(int, z().split()))
szz, graph, mod, szzz = lambda: sorted(
    zz()), {}, 10**9 + 7, lambda: sorted(zzz())


def lcd(xnum1, xnum2): return (xnum1 * xnum2 // gcd(xnum1, xnum2))
def output(answer): stdout.write(str(answer))


dx = [-1, 1, 0, 0, 1, -1, 1, -1]
dy = [0, 0, 1, -1, 1, -1, -1, 1]


###########################---Test-Case---#################################
"""

If you Know me , Then you probably don't know me !

"""
###########################---START-CODING---##############################


cnt = 0

arr = fast()
opn = {'(': 0, '<': 0, '[': 0, '{': 0}
chang = {')': '(', '}': '{', '>': "<", ']': '['}
que = 0
for i in arr:
    if i in opn:
        opn[i] += 1
    else:
        opn[chang[i]] -= 1
        if opn[chang[i]] < 0:
            cnt += 1
            opn[chang[i]] = 0

print(cnt if len(arr) != cnt else "Impossible")
