Since the virtual disk was too small I resized it via
Oracle VM Virtual Box Manager → File → Virtual Media Manager
After that the Ubuntu 20.04 Guest did not start any more (a short error message I do not remember followed by a blank screen)
I searched for a solution but the things I found looked old or strange to me.
How to fix this easily?
I solved the issue by inserting a Ubuntu 20.04 ISO-image and booted from CD.
Next increased the partitions with the "Disks" tool.
After that I installed the tool "Boot-Repair" and executed "Recommended repair".
Restarted the guest and it booted properly