Quantum gravity is expected to remove the classical singularity that arises as the end state of gravitational collapse. To investigate this, we work with a toy model of a collapsing homogeneous scalar field. We show that nonperturbative semiclassical effects of loop quantum gravity cause a bounce and remove the black hole singularity. Furthermore, we find a critical threshold scale below which no horizon forms: quantum gravity may exclude very small astrophysical black holes.