Expect to need between 3 and 5 quarts of transmission fluid to replenish what's lost after the filter change. It's best to have a bit extra on hand just in case. Always check your owner's manual for the specific type of transmission fluid recommended for your Impala's transmission (likely Dexron VI).
Important Note: A simple filter change isn't a complete transmission fluid change. A thorough flush and fill requires considerably more fluid. If your transmission fluid is old or dirty, consider a complete fluid exchange instead of just a filter change. This is usually done by a professional.