Two. The number is two. You always need a backup server :)
If your latency requirements are slack, then you can get away with one machine, because you can reboot or reprovision it and carry on processing without meet your requirements.
If your latency requirements are tight, you don't have time to fail over anyway, so you might as well run one machine and make sure you can deal with failing to meet your requirements.
Go back to two when maintenance is done.