One of the main open problems in the field of transport in strongly interacting nanostructures is the understanding of currents beyond the linear response regime. In this work, we consider the single-impurity Anderson model and use the adaptive time-dependent density matrix renormalization group (tDMRG) method to compute real-time currents out of equilibrium. We first focus on the particle-hole symmetric point where Kondo correlations are the strongest and then extend the study of the nonequilibrium transport to the mixed-valence regime. As a main result, we present accurate data for the current-voltage characteristics of this model.