We study the two-dimensional Kane-Mele-Hubbard model at half filling by means of quantum Monte Carlo simulations. We present a refined phase boundary for the quantum spin liquid. The topological insulator at finite Hubbard interaction strength is adiabatically connected to the groundstate of the Kane-Mele model. In the presence of spin-orbit coupling, magnetic order at large Hubbard U is restricted to the transverse direction. The transition from the topological band insulator to the antiferromagnetic Mott insulator is in the universality class of the three-dimensional XY model. The numerical data suggest that the spin liquid to topological insulator and spin liquid to Mott insulator transitions are both continuous.