means A bold, disrespectful lack of shame — cheeky nerve that ignores politeness and propriety.

from From Latin impudentia, built on impudens 'shameless': the prefix in- 'not' fused with pudens, the present participle of pudere 'to feel shame.' So at its root, impudence is simply the state of not blushing when one ought to — the absence of that warm, cheek-reddening modesty the Romans called pudor. It reached English through the late Middle Ages, when shamelessness, then as now, was never in short supply.