I solved the problem with these constraints:
NSLayoutConstraint.activate([
scrollView.topAnchor.constraint(equalTo: view.topAnchor),
scrollView.leftAnchor.constraint(equalTo: view.leftAnchor),
scrollView.bottomAnchor.constraint(equalTo: view.bottomAnchor),
scrollView.rightAnchor.constraint(equalTo: view.rightAnchor)
])
You also have to set this property on your UIViewController subclass:
extendedLayoutIncludesOpaqueBars = YES