A measurement of the time-dependent ratio of the D-0 -> K+ to (D) over bar (0) pi(-) decay rates is reported. The analysis uses a sample of proton-proton collisions corresponding to an integrated luminosity of 6 fb- 1 recorded by the LHCb experiment from 2015 through 2018 at a center-of-mass energy of 13 TeV. The D-0 meson is required to originate from a D*(2010)(+) -> D-0 pi(+) decay, such that its flavor at production is inferred from the charge of the accompanying pion. The measurement is performed simultaneously for the K+ pi(-) and K- pi(+) final states, allowing both mixing and CP-violation parameters to be determined. The value of the ratio of the decay rates at production is determined to be R-K pi = (343.1 +/- 2.0) x 10(-5). The mixing parameters are measured to be c(K pi) = (51.4 +/- 3.5) x 10(-4) and c(K pi)(0) = (13 +/- 4) x 10(-6), where root R(K pi)c(K pi) is the linear coefficient of the expansion of the ratio as a function of decay time in units of the D-0 lifetime, and c(K pi)(0) is the quadratic coefficient, both averaged between the K+ pi(-) and K- pi(+) final states. The precision is improved relative to the previous best measurement by approximately 60%. No evidence for CP violation is found.