#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(),er=0,openb=0;
vector<int>v(5);
for(int i=0;i<n;i++)
{ if(s[i]=='(') v[1]++;
else if(s[i]=='{') v[2]++;
else if(s[i]=='[') v[3]++;
else if(s[i]=='<') v[4]++;
else if(s[i]==')')
{ if(v[1]>0) v[1]--;
else er++;
}
else if(s[i]=='}')
{ if(v[2]>0) v[2]--;
else er++;
}
else if(s[i]==']')
{ if(v[3]>0) v[3]--;
else er++;
}
else if(s[i]=='>')
{ if(v[4]>0) v[4]--;
else er++;
}
}
openb=v[1]+v[2]+v[3]+v[4];
if(openb==er) cout<<er<<"\n";
else cout<<"Impossible\n";
return 0;}
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