We study the collective emission of a beam of atomic dipoles into an optical cavity. Our focus lies on the effect of a finite detuning between the atomic transition frequency and the cavity resonance frequency. By developing a theoretical description of the coupled atom-cavity dynamics we analyze the stationary atomic configurations including a superradiant phase where the atoms undergo continuous monochromatic collective emission. In addition, we derive an analytical formula for the cavity pulling coefficient which characterizes the displacement of the emission frequency towards the cavity frequency. We find that the pulling is small if the cavity linewidth is much larger than the collective linewidth of the atomic beam. This regime is desired for building stable lasers because the emission frequency is robust against cavity length fluctuations. Furthermore, we investigate the stability of the atomic phases and compare our theoretical predictions with numerical results. Remarkably, we also find polychromatic emission regimes, where the spectrum has several frequency components while the light output is still superradiant.
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