Ambiguous column when joining table using createQuery

In my database all tables have key Id. How should I join tables correctly?

For example, right now I'm trying to join the Users and Companies tables like this:

export class UserService<ServiceParams extends Params = UserParams> extends KnexService<
  User,
  UserData,
  UserParams,
  UserPatch
> {
  createQuery(params: UserParams) {
    const query = super.createQuery(params)

    query
      .leftJoin('Companies', 'Users.CompanyId', 'Companies.Id')
      .select('Companies.Name as CompanyName')
    return query
  }
}

Unfortunately I get an error message:

select [Users].*, [Companies].[Name] as [CompanyName]
from [Users] left join [Companies] on [Users].[CompanyId] = [Companies].[Id] where [Id] = @p0 and [Users].[Id] = @p1 - Ambiguous column name 'Id'.

In the where section it is '[Id] = ' instead of '[Users].[Id] = '. What am I doing wrong?