/*
/*/
#include <bits/stdc++.h>
using namespace std;
#define inf 0x3f3f3f3f
const int N=35;
int n,a[N],dp[N][N],sum[N];
char s[N];
inline bool judge(int i,int j){
if(s[i]=='('&&s[j]==')') return true;
if(s[i]=='['&&s[j]==']') return true;
return false;
}
int main()
{
scanf("%s",s+1);
n=strlen(s+1);
for(int l=2;l<=n;l++){
for(int i=1;i<=n-l+1;i++){
int j=i+l-1;
dp[i][j]=judge(i,j)?dp[i+1][j-1]+2:dp[i+1][j-1];
for(int k=i;k<j;k++){
dp[i][j]=max(dp[i][j],dp[i][k]+dp[k+1][j]);
}
}
}
printf("%d\n",n-dp[1][n]);
return 0;
}
/*
([]])
*/