The Lorentzian type IIB matrix model is a promising candidate for a non-perturbative formulation of superstring theory. In previous studies, Monte Carlo calculations provided interesting results indicating the spontaneous breaking of SO(9) to SO(3) and the emergence of (3+1)-dimensional space-time. However, an approximation was used to avoid the sign problem, which seemed to make the space-time structure singular. In this talk, we report our results obtained by using the complex Langevin method to overcome the sign problem instead of using this approximation. In particular, we discuss the emergence of continuous space-time in a new phase, which we discovered recently.