import java.util.*;

class myStack<T>{
    private ArrayList<T> stack = new ArrayList<T>();
    public int size = 0;
    public boolean isEmpty(){
        return this.size==0?true:false;
    };
    public void push(T element){
        if(this.stack.size()<=this.size)this.stack.add(element);
        else this.stack.set(this.size, element);
        //this.isEmpty = false;
        this.size++;
    };
    public T pop(){
        T last = this.stack.get(this.size - 1);
        this.size--;
        return last;
    }
    public T peek(){
        return this.stack.get(this.size - 1);
    }
}

class Stack<T>{
    private Object[] array = new Object[1];

}

class myError{
    private int inLine, inColumn, typeOfError;
    //typeOfError equals -1 if there are not errors
    //typeOfError equals 1 if there is wrong type of bracket
    //typeOfError equals 2 if there is unexpected closing
    //typeOfError equals 3 if there is unexpected end of input
    private char expectedSign, gotSign;
    public myError(){
        this.inLine = -1;
        this.inColumn=-1;
        this.typeOfError = -1;
    }
    public myError(int inLine, int inColumn, char expectedSign, char gotSign, int typeOfError){
        this.inLine = inLine;
        this.inColumn = inColumn;
        this.expectedSign = expectedSign;
        this.gotSign = gotSign;
        this.typeOfError = typeOfError;
    }
    private boolean errorExists(){
        return this.inLine == -1;
    }
    @Override
    public String toString() {
        if(errorExists())
            System.out.println("");
        else System.out.println("");
    }
}

public class Main {
    public static void main(String[] args){
        myError error = new myError();
        Scanner scanner = new Scanner(System.in);
        String input;
        myStack<Character> stack = new myStack<>();
        stack.push('?');//We put it to avoid additional check if the stack will be empty
        int line = 1;
        while(scanner.hasNextLine()){
            input = scanner.nextLine();
            for(int i=0;i<input.length();++i){
                switch(input.charAt(i)){
                    case ('('):
                        stack.push('(');
                        break;

                    case ('['):
                        stack.push('[');
                        break;

                    case ('{'):
                        stack.push('{');
                        break;

                    case (')'):
                        if(stack.peek()=='?'){
                            error = new myError(line, i+1,input.charAt(i),input.charAt(i),2);
                        }
                        else if(stack.peek()!='(' && stack.peek()=='['){
                            error = new myError(line,i+1,']',input.charAt(i), 1)
                        }
                        else if(stack.peek()!='(' && stack.peek()=='{'){
                            error = new myError(line,i+1,'}',input.charAt(i), 1)
                        }
                        break;
                    case (']'):
                        if(stack.peek()=='?'){
                            error = new myError(line, i+1,input.charAt(i),input.charAt(i),2);
                        }
                        else if(stack.peek()!='[' && stack.peek()=='('){
                            error = new myError(line,i+1,')',input.charAt(i), 1)
                        }
                        else if(stack.peek()!='[' && stack.peek()=='{'){
                            error = new myError(line,i+1,'}',input.charAt(i), 1)
                        }
                        break;

                    case ('}'):
                        if(stack.peek()=='?'){
                            error = new myError(line, i+1,input.charAt(i),input.charAt(i),2);
                        }
                        else if(stack.peek()!='{' && stack.peek()=='['){
                            error = new myError(line,i+1,']',input.charAt(i), 1)
                        }
                        else if(stack.peek()!='{' && stack.peek()=='('){
                            error = new myError(line,i+1,')',input.charAt(i), 1)
                        }
                        break;

                }
            }
            line++;
        }
    }
}