#include<iostream>
#include<cstdio>
#include<cstring>
using namespace std;
const int maxn = 105;
char s[maxn];
int dp[maxn][maxn];
int main(){
while(~scanf("%s", s) && s[0] != 'e') {
memset(dp, 0, sizeof(dp));
int n = strlen(s);
for(int len = 1; len <= n; len++) {
for(int i = 0; i < n; i++) {
if(i + len - 1 < n) {
int j = i + len - 1;
if((s[i] == '(' && s[j] == ')') || (s[i] == '[' && s[j] == ']'))
dp[i][j] = dp[i + 1][j - 1] + 2;
for(int k = i; k < j; k++)
dp[i][j] = max(dp[i][j], dp[i][k] + dp[k + 1][j]);
}
}
}
printf("%d\n", dp[0][n - 1]);
}
return 0;
}