The US Department of Justice filed a lawsuit against Uber on Thursday, accusing the ride-hailing giant of discriminating against passengers with disabilities, according to a document.

The complaint, filed in federal court in San Francisco, alleges that "despite Uber's services being essential to individuals with disabilities, the company has denied them full and equal access to its services in several key ways."

The Justice Department alleges that Uber and its drivers "routinely deny service to individuals with disabilities, including those with service dogs or using foldable wheelchairs," and that the company "imposes unreasonable additional costs by charging cleaning fees associated with service dogs and cancellation fees on passengers who are unlawfully denied service."

The complaint also alleges that drivers "insult, demean, or ask inappropriate questions of individuals with disabilities."

Uber said in a statement: "We have a clear zero-tolerance policy regarding confirmed denials and fundamentally disagree with the Justice Department's allegations."

The company said its Community Guidelines prohibit discrimination and that earlier this year it launched a new feature to improve the ride experience for passengers with service dogs, including a video for drivers explaining its policies.

The Justice Department accused Uber of refusing to "reasonably adjust" its policies and practices to avoid discrimination against people with disabilities.

The federal government is seeking a jury trial and injunctive relief, monetary damages, and civil penalties against Uber for alleged violations of the Americans with Disabilities Act.

The Americans with Disabilities Act was signed into law by President George H.W. Bush on July 26, 1990. According to the latest available data from the Centers for Disease Control and Prevention, more than 61 million American adults, or one in four, report having a disability.