import java.util.*;
public class Main {
    public static void main(String[] args){
        Scanner sc = new Scanner(System.in);
        String s = sc.nextLine();
        int r = 0, temp = 0;
        for(int i = 0; i < s.length(); ++i){
            if(s.charAt(i) == '[') temp++;
            if(s.charAt(i) == ']') temp--;
            if(temp > r) r = temp;
        }
        System.out.println(r);
    }
}