We use the density matrix renormalization group to perform accurate calculations of the ground state of the nearest-neighbor quantum spin S = 1/2 Heisenberg antiferromagnet on the kagome lattice. We study this model on numerous long cylinders with circumferences up to 12 lattice spacings. Through a combination of very-low-energy and small finite-size effects, our results provide strong evidence that, for the infinite two-dimensional system, the ground state of this model is a fully gapped spin liquid.