#include <stdio.h>
#include <stdlib.h>
#define SIZE 100

int parenToInt(char ch) {
  if (ch == '(') {
    return 0;
  } else if (ch == ')') {
    return 1;
  } else if (ch == '[') {
    return 2;
  } else if (ch == ']') {
    return 3;
  } else if (ch == '{') {
    return 4;
  } else if (ch == '}') {
    return 5;
  } else {
    return -1;
  }
}

typedef struct stack {
  int top;
  int capacity;
  int *array;
} stack;

stack *newStack(int capacity) {
  stack *st = malloc(sizeof(stack));
  st->capacity = 50;
  st->top = -1;
  st->array = malloc(st->capacity * sizeof(int));

  return st;
}

void push(stack *st, int val) {
  st->top++;
  st->array[st->top] = val;
}

int peek(stack *st) { return st->array[st->top]; }

void pop(stack *st) { st->top--; }

int isEmpty(stack *st) { return (st->top == -1); }

int main(void) {
  char input[SIZE];
  fgets(input, SIZE, stdin);
  int num;
  int ans[3] = {};

  stack *st = newStack(SIZE);

  for (int i = 0; input[i] != '\0'; i++) {
    num = parenToInt(input[i]);
    if (num != -1) {
      if (num % 2 == 0) {
        // left paren , push to stack
        push(st, num);
      } else {
        // right paren
        if (!isEmpty(st) && peek(st) == num - 1) {
          pop(st);
        } else {
          // a error
          ans[num / 2] = 1;
        }
      }
    }
  }

  while (!isEmpty(st)) {
    num = peek(st);
    ans[num / 2] = 1;
    pop(st);
  }

  int incorrect = ans[0] | ans[1] | ans[2];
  if (incorrect) {
    for (int i = 0; i < 3; i++) {
      if (ans[i]) {
        printf("%d,", i + 1);
      }
    }
  } else {
    printf("0");
  }

  return 0;
}