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C. Replace To Make Regular Bracket Sequence

time limit per test

1 secondmemory limit per test

256 megabytesinput

standard inputoutput

standard outputYou 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 *s* _{1} and *s* _{2} be a RBS then the strings < *s* _{1}> *s* _{2}, { *s* _{1}} *s* _{2}, [ *s* _{1}] *s* _{2}, ( *s* _{1}) *s* _{2} 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 10^{6}.

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

[<}){}

Output

2

Input

{()}[]

Output

0

Input

]]

Output

Impossible

Codeforces (c) Copyright 2010-2020 Mike Mirzayanov

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