It seems that the problem was the update to Ubuntu kernel 5.3.0-42-generic which has been recently reported as a bug.
Reverting to the previous kernel 5.3.0-40-generic should solve the problem.
To see what version kernel you are running type in the terminal:
uname -r
You can boot to the previous kernel by selecting the relevant option in the grub2 boot loader. Once in the grub2 menu, select "Advanced options for Ubuntu" and then choose "5.3.0-40-generic".
If the grub2 menu does not appear, press ESC or (left) SHIFT while booting.
If pressing these keys does not work to bring up the grub2 menu, you need to manually edit the boot loader settings. This can be done by e.g. tweaking the grub.cfg file using a text editor (in this case gedit):
sudo gedit /boot/grub/grub.cfg
Search for "timeout" and change the following to:
set timeout_style=menu
set timeout=10
and save the grub.cfg file. Next time you boot, the grub2 menu should appear.
I reckon that there must be more elegant solutions until the bug is fixed but, for the moment, this did the trick for me.