#include <bits/stdc++.h>
using namespace std;
#define GG ios_base::sync_with_stdio(false); cin.tie(0); cout.tie(0);
int main () { GG;
string s;
cin>>s; int n=s.size(),ans=0;
stack <char> st; bool f=0;
for(int i=0;i<n;i++)
{ if( (s[i]=='(' ) || (s[i]=='{' ) || (s[i]=='[' ) || (s[i]=='<' ) )
st.push(s[i]);
else if(st.size() != 0)
{ if ( st.top()=='(' && s[i]==')')
st.pop();
else if(st.top()=='{' && s[i]=='}')
st.pop();
else if(st.top()=='[' && s[i]==']')
st.pop();
else if(st.top()=='<' && s[i]=='>')
st.pop();
else
{ st.pop();
ans++;
}
}
else
{ f=1; break;
}
}
if(f || st.size()!=0 ) cout<<"Impossible\n";
else cout<<ans<<"\n";
return 0;}
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